Self-driving vehicle systems and methods

ABSTRACT

A vehicle fire is an emergency in which seconds count. Each second saved until the rider exits the vehicle can significantly reduce the severity of injuries due to the fire. Accordingly, a safety system can include a self-driving vehicle configured to transport a rider, a vehicle management system configured to autonomously drive the self-driving vehicle, a seat coupled to the self-driving vehicle, and a seat belt configured to alternatively have a buckled state and an unbuckled state. In many embodiments, the safety system includes a smoke detection system coupled to the self-driving vehicle and configured to detect smoke inside a cabin of the self-driving vehicle.

CROSS-REFERENCE TO RELATED APPLICATIONS

The entire contents of the following application are incorporated byreference herein: U.S. patent application Ser. No. 16/134,190 (issued asU.S. Pat. No. 10,289,922); filed Sep. 18, 2018; and entitledSELF-DRIVING VEHICLE SYSTEMS AND METHODS.

The entire contents of the following application are incorporated byreference herein: U.S. patent application Ser. No. 16/148,940 (issued asU.S. Pat. No. 10,223,844); filed Oct. 1, 2018; and entitled SELF-DRIVINGVEHICLE SYSTEMS AND METHODS.

The entire contents of the following application are incorporated byreference herein: U.S. patent application Ser. No. 16/230,410 (issued asU.S. Pat. No. 10,282,625); filed Dec. 21, 2018; and entitledSELF-DRIVING VEHICLE SYSTEMS AND METHODS.

The entire contents of the following application are incorporated byreference herein: U.S. Patent Application No. 62/782,887; filed Dec. 20,2018; and entitled SELF-DRIVING VEHICLE SYSTEMS AND METHODS.

The entire contents of the following application are incorporated byreference herein: U.S. Patent Application No. 62/821,524; filed Mar. 21,2019; and entitled SELF-DRIVING VEHICLE SYSTEMS AND METHODS.

The entire contents of the following application are incorporated byreference herein: U.S. Patent Application No. 62/822,863; filed Mar. 23,2019; and entitled SELF-DRIVING VEHICLE SYSTEMS AND METHODS.

The entire contents of the following application are incorporated byreference herein: U.S. patent application Ser. No. 16/362,509; filedMar. 22, 2019; and entitled SELF-DRIVING VEHICLE SYSTEMS AND METHODS.

BACKGROUND Field

Various embodiments disclosed herein relate to vehicles. Certainembodiments relate to self-driving vehicles.

Description of Related Art

Vehicles typically require a driver. These vehicles often can onlyperform actions when directly steered by the driver. However,self-driving vehicles are not reliant upon drivers and can performactions based upon particular events. Self-driving vehicles candramatically increase travel safety and convenience. As a result, thereis a need for systems and methods that enable self-driving vehicles toperform actions based upon particular events.

SUMMARY

Self-driving vehicles will save tens of thousands of lives per year. Themajority of vehicle-related deaths are caused by driver error. Testshave shown that self-driving vehicles nearly eliminate self-inflictedaccidents (although they are not immune to accidents caused by humandrivers of other vehicles). Self-driving vehicles have unlimitedattention spans and can process complex sensor data nearlyinstantaneously. The ability of self-driving vehicles to save lives isso impressive that society has a moral imperative to developself-driving technology such that it can be widely adopted.

Self-driving vehicles also have the ability to dramatically save timeand improve convenience in roadway travel. Specifically, self-drivingvehicles have unlimited potential to learn and predict human behaviorand perform actions accordingly. Some embodiments enable a self-drivingvehicle to monitor human activity and predict when and where the humanwill be located and whether the human needs a ride from the self-drivingvehicle. Self-driving vehicles will be able to perform such tasks withincredible efficacy and accuracy that will allow self-driving vehiclesto proliferate at a much faster rate than would otherwise be the case.

Some embodiments comprise a maintenance system configured to be usedwith a self-driving vehicle. In some embodiments, maintenance systemscomprise a camera system coupled to an interior of the vehicle. Thecamera system can be configured to take a picture of an item left behindby a first rider. Maintenance systems can comprise a vehicle managementsystem configured to autonomously drive the vehicle to a first locationto remove the item.

In some embodiments, the camera system comprises a first camera coupledto a ceiling of the vehicle and directed towards a first row of thevehicle, and the camera system comprises a second camera coupled to theceiling of the vehicle and directed towards a second row of the vehicle.

In some embodiments, the camera system comprises a first camera coupledto a rear-view mirror of the vehicle and directed towards a first row ofthe vehicle, and the camera system comprises a second camera coupled toa ceiling of the vehicle and directed towards a second row of thevehicle.

In some embodiments, the camera system comprises a first camera locatedin a trunk area of the vehicle such that the first camera is configuredto enable an image analysis system to determine if the item is left inthe trunk area.

In some embodiments, the maintenance system comprises an image analysissystem configured to detect the item left behind by comparing a firstbaseline image taken by the camera system of the interior of the vehicleto a second image taken by the camera system after the first baselineimage.

In some embodiments, the vehicle management system is configured toautomatically drive the vehicle to the first location to remove the itemin response to the image analysis system detecting the item left by thefirst rider.

Some embodiments comprise a communication system configured to send afirst wireless communication to a remote computing device associatedwith the first rider in response to the image analysis system detectingthe item left behind by the first rider. The first wirelesscommunication can be configured to notify the first rider that the itemwas left behind.

In some embodiments, the communication system is configured to send asecond wireless communication comprising a third image of the item tothe remote computing device in response to the image analysis systemdetecting the item left behind by the first rider. The third image canenable the rider to see the item on a display of her remote computingdevice.

In some embodiments, the vehicle management system is configured toreceive an address of the first location from the remote computingdevice in response to the communication system sending the firstwireless communication.

In some embodiments, the first location is an address at which the firstrider has requested to pick up the item. The address can be the rider'scurrent address. The address can also be a location at which the rideris not currently located by at which the rider (or the rider'srepresentative) plans to meet the vehicle (or another vehicle carryingthe item) to retrieve the item.

In some embodiments, the communication system is configured to receive athird wireless communication from the remote computing device associatedwith the first rider in response to the communication system sending thefirst wireless communication. The third wireless communication cancomprise instructions for shipping the item.

In some embodiments, the first location is a shipping location (such asa FedEx, UPS, or USPS facility) configured to remove the item from thevehicle and configured to ship the item according to the shippinginstructions. The vehicle management system can be configured to enableremoving the item from the vehicle once the vehicle is located at theshipping location.

In some embodiments, the vehicle management system is configured toreceive the first location of a service area configured to clean thevehicle. The vehicle management system can be configured to drive thevehicle to the service area to remove the item in response to the imageanalysis system detecting the item left by the first rider.

Some embodiments comprise a third image taken by the camera system inresponse to the vehicle leaving the service area. Some embodimentscomprise a communication system configured to send a first wirelesscommunication comprising the third image to a remote computing deviceassociated with a manager of the vehicle. The first wirelesscommunication can be configured to enable the manager to verify that theitem was removed from the vehicle.

Some embodiments comprise a third image taken by the camera system. Theimage analysis system can be configured to compare the third image tothe second image to detect that the item was removed from the vehicle.

In some embodiments, the vehicle management system is configured to finean account of the first rider in response to the image analysis systemdetecting the item left behind by the first rider.

In some embodiments, a communication system is configured to send afirst wireless communication to a remote computing device associatedwith the first rider in response to the image analysis system detectingthe item left behind by the first rider. The first wirelesscommunication can comprise a third image taken by the camera system. Thethird image can be configured to show the item. The first wirelesscommunication can be configured to ask the first rider if the itembelongs to the first rider. The communication system can be configuredto receive a second wireless communication from the remote computingdevice in response to the first wireless communication. The secondwireless communication can be configured to inform the maintenancesystem that the first rider is an owner of the item. The maintenancesystem can comprise a memory configured to record that the first rideris the owner of the item.

In some embodiments, the maintenance system comprises a locationdetection system configured to receive the first location of a remotecomputing device associated with the first rider to enable the vehiclemanagement system to autonomously drive the vehicle to the firstlocation in response to an image analysis system detecting the item leftby the first rider.

In some embodiments, the maintenance system comprises an image analysissystem configured to detect the item left behind by comparing a firstbaseline image taken by the camera system of the interior of the vehicleto a second image (of the interior) taken by the camera system after thefirst baseline image.

In some embodiments, the maintenance system comprises a communicationsystem having an antenna, a transmitter, and a receiver. Thecommunication system can be configured to send a first wirelesscommunication to a remote computing device associated with a manager ofthe vehicle in response to the image analysis system detecting the itemleft behind by the first rider.

In some embodiments, the first wireless communication is configured tonotify the manager that the item was left behind. The communicationsystem can be configured to send a second wireless communicationcomprising a third image of the item to the remote computing device inresponse to the image analysis system detecting the item left behind bythe first rider.

In some embodiments, the vehicle management system is configured toreceive a third wireless communication from the remote computing devicein response to the communication system sending the first wirelesscommunication. The third second wireless communication can be configuredto instruct the vehicle management system to autonomously drive thevehicle to the first location to remove the item.

In some embodiments, the vehicle management system is configured todetermine that the first rider has exited the vehicle. The vehiclemanagement system can be configured to cause the camera system to take afirst interior image of the interior of the vehicle in response todetermining that the first rider has exited the vehicle.

In some embodiments, the maintenance system further comprises an imageanalysis system having at least one processor and a memory comprisingprogram instructions (e.g., code modules configured to be executed byone or more computers) that when executed by the at least one processorare configured to cause the image analysis system to detect the itemleft behind by analyzing the first interior image taken by the camerasystem after the first rider has exited the vehicle. The first locationcan be a vehicle cleaning facility. The vehicle management system can beconfigured to drive the vehicle to the vehicle cleaning facility toremove the item in response to the image analysis system detecting theitem.

In some embodiments, the vehicle management system comprises a firstmode and a second mode. In the first mode, the vehicle management systemcan be configured to make the vehicle available to accept a pick-uprequest of a second rider. In the second mode, the vehicle managementsystem can be configured to make the vehicle unavailable to accept thepick-up request. The vehicle management system can be configured to bein the second mode from a first time at which the image analysis systemdetects the item left behind. The vehicle management system can beconfigured to exit the second mode and enter the first mode in responseto at least one of the item being removed, receiving an indication thatthe vehicle has been cleaned, and the vehicle leaving a vehicle cleaningstation.

In some embodiments, the vehicle management system is configured todetermine that the first rider has exited the vehicle in response to (1)receiving a location of a remote computing device associated with thefirst rider and determining that the location is not inside the vehicle,(2) failing to detect a direct wireless communication from the remotecomputing device to an antenna of the vehicle, (3) determining, by theimage analysis system, that a second interior image does not show thefirst rider, and/or (4) determining, by the image analysis system, thatan infrared image of the interior of the vehicle does not show the firstrider.

In some embodiments, the maintenance system comprises at least oneprocessor and a memory comprising program instructions that whenexecuted by the at least one processor cause the maintenance system to(1) compare a first baseline image taken by the camera system of theinterior of the vehicle to a second image taken by the camera systemafter the first baseline image to detect the item left behind by thefirst rider, and/or (2) drive, by the vehicle management system, thevehicle to the first location to remove the item in response to thedetecting the item. The program instructions can comprise code modulesconfigured to be executed by one or more computers located in thevehicle and/or located away from the vehicle.

In some embodiments, the first location is a first vehicle cleaningfacility. The program instructions can be configured to select the firstvehicle cleaning facility based at least in part on determining adistance from the vehicle to the first vehicle cleaning facility and/orbased at least in part on determining that the first vehicle cleaningfacility is approved by a manager of the vehicle. The memory cancomprise a list of vehicle cleaning facilities that were approved by themanager of the vehicle. The program instructions can be configured tochoose a cleaning facility that was previously approved by the managerand is located near the current location of the vehicle.

In some embodiments, the program instructions are configured to send afirst wireless communication to a remote computing device associatedwith the first rider in response to detecting the item. The firstwireless communication can comprise an image of the item. The programinstructions can be configured to receive a second wirelesscommunication from the remote computing device in response to sendingthe first wireless communication. The second wireless communication cancomprise an instruction (e.g., from the first rider) to return the item.The program instructions can be configured to drive, by the vehiclemanagement system, the vehicle to the first location in response to theinstruction.

Some embodiments comprise a maintenance system configured to be usedwith a self-driving vehicle. A maintenance system can comprise a smokedetection system configured to detect smoke inside a cabin of thevehicle; a communication system configured to send a first wirelesscommunication to a remote computing device associated with a manager ofthe vehicle in response to the smoke detection system detecting thesmoke; and/or a vehicle management system configured to autonomouslydrive the vehicle.

In some embodiments, a maintenance system comprises a memory having anidentification of a first rider of the vehicle. The communication systemcan comprise an antenna, a transmitter, and/or a receiver. Thecommunication system can be configured to send the identification of thefirst rider to the remote computing device of the manager in response tothe smoke detection system detecting the smoke inside the vehicle.

In some embodiments, a maintenance system comprises a camera systemcoupled to an interior of the vehicle. The camera system can beconfigured to take a picture of a first rider smoking. The communicationsystem can be configured to send the picture of the first rider smokingto the remote computing device.

In some embodiments, the camera system comprises a first camera directedtowards a first row of the vehicle. The first camera can be configuredto take the picture in response to the smoke detection system detectingthe smoke inside the vehicle.

In some embodiments, the smoke detection system comprises a camerasystem and an image analysis system configured to detect the smokeinside the vehicle by comparing a first baseline image taken by thecamera system of an interior of the vehicle to a second image taken bythe camera system (of the interior of the vehicle) after the firstbaseline image.

In some embodiments, the smoke detection system comprises an ionizationsmoke detector configured to detect cigarette smoking. The smokedetection system can also comprise an optical smoke detector configuredto detect electronic cigarette aerosol by analyzing a particle size ofthe aerosol and determining that the particle size is indicative ofelectronic cigarette use.

In some embodiments, the smoke detection system comprises at least oneoptical smoke detector configured to analyze a particle size of thesmoke. The communication system is configured to send the first wirelesscommunication identifying the smoke as an aerosol in response to thesmoke detection system determining that the particle size is greaterthan a predetermined threshold. The communication system can beconfigured to send the first wireless communication identifying thesmoke as cigarette smoking in response to the smoke detection systemdetermining that the particle size is less than the predeterminedthreshold.

In some embodiments, a camera system is coupled to an interior of thevehicle. The camera system can be configured to take a picture of afirst rider smoking. The communication system can be configured to sendthe picture of the first rider smoking to the remote computing device.The first wireless communication can be configured to enable the remotecomputing device to display the picture of the first rider smoking andto display an indication of whether the smoke is due to the aerosol orthe cigarette smoking.

In some embodiments, the vehicle management system comprises a motorconfigured to roll down a window of the vehicle. The vehicle managementsystem can be configured to use the motor to automatically roll down thewindow in response to the smoke detection system detecting the smokeinside the vehicle.

In some embodiments, the vehicle management system comprises aventilation system having a fan to push air in the cabin. The fan can belocated inside the dash of the vehicle such that the fan pushes air inthe cabin by pushing air through a vent and into the cabin. The vehiclemanagement system can be configured to automatically increase a rate atwhich the ventilation system pushes outside air into the cabin of thevehicle in response to the smoke detection system detecting the smokeinside the vehicle. In several embodiments, the rate is increased byincreasing a rotational speed of the fan.

In some embodiments, the vehicle management system comprises atemperature management system having a thermometer and having at leastone of an air conditioner, a heater, and a ventilation system having afan to circulate air in the cabin. The fan can be located inside a ventinside the dash of the vehicle such that the fan is configured tocirculate air in the cabin by pushing air out from a vent. The vehiclemanagement system can be configured to at least one of increase anddecrease an ambient temperature inside the cabin by at least ten degreesFahrenheit in response to the smoke detection system detecting the smokeinside the vehicle to decrease a comfort level of a first rider.

In some embodiments, the vehicle management system is configured todecrease an ambient temperature inside the cabin by at least ten degreesFahrenheit and/or by at least twenty degrees Fahrenheit in response tothe smoke detection system detecting the smoke inside the vehicle todecrease a comfort level of a first rider. The vehicle management systemcan be configured to increase an ambient temperature inside the cabin byat least ten degrees Fahrenheit and/or by at least twenty degreesFahrenheit in response to the smoke detection system detecting the smokeinside the vehicle to decrease a comfort level of a first rider.

In some embodiments, the vehicle management system is configured todetermine a local speed limit and is configured to automatically reducea speed of the vehicle below the local speed limit in response to thesmoke detection system detecting the smoke inside the vehicle. Someembodiments include reducing the speed so much that the vehicle stops(e.g., such that the vehicle is parked). The vehicle management systemcan be configured to determine a suitable parking location in responseto the smoke detection system detecting the smoke inside the vehicle,and the vehicle management system can be configured to park the vehiclein the parking location in response to the smoke detection systemdetecting the smoke inside the vehicle.

In some embodiments, the vehicle management system comprises a speaker.The speaker can be configured to emit audio commands instructing a firstrider of the vehicle to cease smoking in order to cause the vehiclemanagement system to increase the speed and/or start moving again afterbeing stopped in a parking location.

In some embodiments, the vehicle is configured to drive a first rider toa destination selected by the first rider. The vehicle management systemcan be configured to cease driving towards the destination in responseto the smoke detection system detecting the smoke inside the vehicle.The vehicle management system can be configured to continue drivingtowards the destination in response to the smoke detection system nolonger detecting the smoke inside the vehicle.

In some embodiments, the vehicle management system is configured to finean account of a first rider of the vehicle in response to the smokedetection system detecting the smoke inside the vehicle. The smokedetection system can be configured to analyze a particle size of thesmoke to determine if the particle size is larger than a predeterminedthreshold. The vehicle management system can be configured to fine theaccount a first amount if the particle size is larger than thepredetermined threshold. The vehicle management system can be configuredto fine the account a second amount if the particle size is smaller thanthe predetermined threshold. The second amount can be larger than thefirst amount and/or at least 20 percent larger than the first amount.

In some embodiments, the vehicle management system comprises a lightingsystem having at least one light coupled to an interior of the vehicle.The lighting system can be configured to illuminate at least one of aseat of the vehicle and a majority of the cabin. The vehicle managementsystem can be configured to use the lighting system to illuminate atleast one of the seat and the majority of the cabin in response to thesmoke detection system detecting the smoke inside the vehicle.

In some embodiments, the vehicle management system comprises a speaker.The speaker can be configured to emit audio commands instructing a firstrider of the vehicle to cease smoking. The vehicle management system canbe configured to cease illuminating the majority of the cabin inresponse to the smoke detection system no longer detecting the smokeinside the vehicle.

In some embodiments, the vehicle management system is configured toreceive a first location of a service area configured to clean thevehicle. The vehicle management system can be configured to drive thevehicle to the service area in response to the smoke detection systemdetecting the smoke inside the vehicle.

In some embodiments, the smoke detection system is configured to detectthe smoke emitted by a first rider while the vehicle is driving to adrop off location of the first rider. The vehicle management system cancomprise a first mode and a second mode. In the first mode, the vehiclemanagement system is configured to make the vehicle available to accepta pick-up request of a second rider. In the second mode, the vehiclemanagement system is configured to make the vehicle unavailable toaccept the pick-up request. The vehicle management system can beconfigured to enter the second mode in response to the smoke detectionsystem detecting the smoke inside the vehicle. The vehicle managementsystem can be configured to exit the second mode and enter the firstmode in response to at least one of receiving an indication that thevehicle has been cleaned and the vehicle leaving a vehicle cleaningstation.

In some embodiments, the vehicle management system comprises aventilation system having a fan to push air in the cabin. The fan can beembedded in a vent channel of the dash or can be located in any othersuitable location. The smoke detection system can be configured toanalyze a particle size of the smoke to determine if the particle sizeis smaller than a predetermined threshold. The vehicle management systemcan be configured to automatically increase a rate at which theventilation system pushes outside air into the cabin in response to thesmoke detection system detecting the smoke inside the vehicle. Thevehicle management system can be configured to drive the vehicle to aservice area configured to clean the vehicle in response to determiningthat the particle size is smaller than the predetermined threshold.

In some embodiments, the vehicle management system comprises a motorconfigured to roll down a window of the vehicle. The smoke detectionsystem is configured to analyze a particle size of the smoke todetermine if the particle size is smaller than a predeterminedthreshold. The vehicle management system can be configured to use themotor to automatically roll down the window in response to the smokedetection system detecting the smoke inside the vehicle. The vehiclemanagement system can be configured to drive the vehicle to a servicearea configured to clean the vehicle in response to determining that theparticle size is smaller than the predetermined threshold.

In some embodiments, the vehicle management system comprises at leastone of a motor configured to roll down a window of the vehicle and aventilation system having a fan to push air in the cabin. The smokedetection system can be configured to detect the smoke emitted by afirst rider while the vehicle is driving to a drop off location of thefirst rider. The smoke detection system can be configured to analyze aparticle size of the smoke to determine if the particle size is smallerthan a predetermined threshold.

In some embodiments, in response to the smoke detection system detectingthe smoke inside the vehicle, the vehicle management system isconfigured to at least one of use the motor to automatically roll downthe window and increase a rate at which the ventilation system pushesthe air into the cabin.

In some embodiments, in response to determining that the particle sizeis larger than the predetermined threshold and after at least one ofrolling down the window and increasing the rate, the vehicle managementsystem is configured to make the vehicle available to pick up a secondrider.

In some embodiments, in response to determining that the particle sizeis smaller than the predetermined threshold, the vehicle managementsystem is configured to make the vehicle unavailable to pick up thesecond rider until after the vehicle management system has driven thevehicle to a service area configured to clean the vehicle.

In some embodiments, the vehicle management system comprises a motorconfigured to roll down a window of the vehicle and a rain sensorconfigured to detect an indication of rain on the vehicle. The smokedetection system can be configured to analyze a particle size of thesmoke to determine if the particle size is smaller than a predeterminedthreshold. The vehicle management system can be configured to use themotor to automatically roll down the window in response to the smokedetection system detecting the smoke inside the vehicle and/or inresponse to the rain sensor not detecting the indication of the rain.The vehicle management system can be configured to drive the vehicle toa service area configured to clean the vehicle in response todetermining that the particle size is smaller than the predeterminedthreshold.

In some embodiments, the vehicle management system comprises a motorconfigured to roll down a window of the vehicle and a rain sensorconfigured to detect an indication of rain on the vehicle. The vehiclemanagement system can be configured to use the motor to automaticallyroll down the window in response to the smoke detection system detectingthe smoke inside the vehicle and in response to the rain sensor notdetecting the indication of the rain.

In some embodiments, a maintenance system is configured to be used witha self-driving vehicle. A maintenance system can comprise a smokedetection system coupled to the vehicle and configured to detect smokeinside a cabin of the vehicle. A maintenance system can comprise avehicle management system configured to autonomously drive the vehicle.

In some embodiments, the vehicle management system is configured tointentionally increase a travel time of the vehicle in response to thesmoke detection system detecting the smoke inside the vehicle.

In some embodiments, the vehicle management system is configured toincrease the travel time by changing from a first travel route to adestination (e.g., a destination chosen by a first rider) to a secondtravel route to the destination. The vehicle management system can beconfigured to change from the first travel route to the second travelroute to intentionally increase the travel time in response to the smokedetection system detecting the smoke inside the vehicle.

In some embodiments, the vehicle management system comprises at leastone of a speaker and a display screen. At least one of the speaker andthe display screen can be configured to provide at least one of audioinstructions and visual instructions to a first rider in the vehicle. Atleast one of the audio instructions and the visual instructions can beconfigured to warn the first rider to cease smoking to avoid increasingthe travel time.

In some embodiments, the vehicle management system comprises at leastone of a speaker and a display screen. At least one of the speaker andthe display screen is configured to provide at least one of audioinstructions and visual instructions to a first rider. At least one ofthe audio instructions and the visual instructions can be configured toinstruct the first rider to cease smoking in order to decrease thetravel time.

In some embodiments, the maintenance system comprises at least oneprocessor and at least one memory having program instructions that whenexecuted by the at least one processor are configured to cause thevehicle management system to increase the travel time of the vehicle inresponse to the smoke detection system detecting the smoke inside thevehicle.

In some embodiments, the vehicle management system is configured toreduce a speed of the vehicle in response to the smoke detection systemdetecting the smoke inside the vehicle.

In some embodiments, in response to the smoke detection system detectingthe smoke inside the vehicle, the vehicle management system isconfigured to automatically reduce the speed while still enabling thevehicle to continue transporting a first rider toward a destinationselected by the first rider.

In some embodiments, the vehicle management system is configured todetermine a local speed limit. The vehicle management system can beconfigured to intentionally reduce the speed of the vehicle to avelocity below the local speed limit and above five miles per hour(and/or above ten miles per hour) in response to the smoke detectionsystem detecting the smoke inside the vehicle.

In some embodiments, the maintenance system comprises at least oneprocessor and at least one memory having program instructions that whenexecuted by the at least one processor are configured to cause thevehicle management system to intentionally reduce the speed of thevehicle to a velocity below a local speed limit and above five miles perhour in response to the smoke detection system detecting the smokeinside the vehicle.

In some embodiments, the vehicle management system comprises at leastone of a speaker and a display screen. At least one of the speaker andthe display screen can be configured to provide at least one of audioinstructions and visual instructions to a first rider. At least one ofthe audio instructions and the visual instructions can be configured toinstruct the first rider to cease smoking in order to increase thespeed.

In some embodiments, the smoke detection system is configured to analyzea particle size of the smoke to determine if the particle size issmaller than a predetermined threshold. The vehicle management systemcan be configured to reduce the speed in response to the maintenancesystem detecting the smoke inside the vehicle and determining that theparticle size is smaller than the predetermined threshold.

In some embodiments, the maintenance system is configured to detectsmoke from a rider smoking inside the vehicle and/or is configured todetect smoke from a fire inside the vehicle. A vehicle can be configuredto drive a first rider to a destination chosen by the first rider. Thevehicle management system can be configured to cease driving toward thedestination in response to the smoke detection system detecting thesmoke inside the vehicle.

In some embodiments, the maintenance system comprises at least oneprocessor and at least one memory having program instructions that whenexecuted by the at least one processor are configured (to cause thevehicle management system) to cause the vehicle to cease driving towardthe destination in response to the smoke detection system detecting thesmoke inside the vehicle.

In some embodiments, the smoke detection system is configured to analyzea particle size of the smoke to determine if the particle size issmaller than a predetermined threshold. The vehicle management systemcan be configured to cease driving toward the destination in response tothe maintenance system detecting the smoke inside the vehicle anddetermining that the particle size is smaller than the predeterminedthreshold. The vehicle can stop moving, pull over to a parking locationalongside the road, and/or stop at a cleaning facility configured toremove the smoke smell from the vehicle.

In some embodiments, the vehicle management system is configured tocease driving in response to the maintenance system detecting the smokeinside the vehicle and determining that a concentration of the smokeexceeds a predetermined threshold. The concentration threshold can beconfigured to be indicative of smoke from a fire rather than smoke fromsmoking a cigarette or vaping.

In some embodiments, the maintenance system comprises at least oneprocessor and at least one memory having program instructions that whenexecuted by the at least one processor are configured to cause thevehicle to stop moving via (e.g., by) a first stopping mode in responseto the smoke detection system detecting the smoke inside the vehicle.The program instructions can be configured to cause the vehicle to stopmoving via (e.g., by) a second stopping mode in response to the smokedetection system detecting the smoke inside the vehicle and themaintenance system detecting an indication of a person being locatedinside the vehicle. The second stopping mode can be configured to enablethe vehicle to stop more quickly than the first stopping mode.

In some embodiments, the second stopping mode is configured to enablethe vehicle to move at a greater speed than the first stopping mode.

In some embodiments, the vehicle management system is configured todetermine a local speed limit, and the second stopping mode isconfigured to enable the vehicle to exceed the local speed limit by agreater amount than the first stopping mode.

In some embodiments, the second stopping mode is configured to enablethe vehicle to accelerate faster than the first stopping mode.

In some embodiments, the second stopping mode is configured to enablethe vehicle to decelerate faster than the first stopping mode.

In some embodiments, the vehicle is configured to drive on a road. Thevehicle management system can comprise a vehicle guidance system havingat least one of a camera, a radar, and a lidar. The vehicle guidancesystem can be configured to detect objects located outside the vehicleon the road. Program instructions can be configured to enable thevehicle to come closer to the objects in the second stopping mode thanin the first stopping mode.

In some embodiments, the vehicle management system comprises a vehicleguidance system having at least one of a camera, a radar, and a lidar.The vehicle guidance system can be configured to detect objects locatedoutside the vehicle on the road. The maintenance system can comprise atleast one processor and at least one memory having program instructionsconfigured to be executed by the at least one processor and comprising afirst mode, a second mode, and a third mode. In the first mode, theprogram instructions are configured to prompt the vehicle managementsystem to drive the vehicle toward a location (e.g., a destination, adrop-off location, a pick-up location).

In some embodiments, the program instructions are configured to exit thefirst mode and enter the second mode in response to the smoke detectionsystem detecting the smoke inside the vehicle and in response to themaintenance system determining that a person is not located inside thevehicle. In the second mode, the program instructions prompt the vehicleguidance system to implement a first stopping mode.

In some embodiments, the program instructions are configured to exit thefirst mode and enter the third mode in response to the smoke detectionsystem detecting the smoke inside the vehicle and the maintenance systemdetermining that the person is located inside the vehicle. In the thirdmode, the program instructions prompt the vehicle guidance system toimplement a second stopping mode configured to enable the vehicle tocome to a stop in less time than the first stopping mode.

In some embodiments, the vehicle management system comprises a speakerconfigured to emit an audio command. The audio command can be configuredto instruct the first rider to cease smoking in order to resume drivingtoward the destination.

In some embodiments, the vehicle management system comprises a displayscreen. The display screen can be configured to provide visualinstructions to the first rider. The visual instructions can beconfigured to instruct the first rider to cease smoking in order toresume driving toward the destination.

In some embodiments, the vehicle management system is configured toresume driving toward the destination in response to at least one of thesmoke detection system no longer detecting the smoke and the smokedetection system detecting a decrease in a concentration of the smoke.

In some embodiments, the smoke detection system is configured to analyzea particle size of the smoke inside the vehicle. The maintenance systemcan comprise a speaker, at least one processor, and at least one memory.The memory can comprise program instructions configured to be executedby the at least one processor such that the program instructions areconfigured to cause the speaker to emit a first audio command inresponse to the maintenance system determining that the particle size issmaller than a predetermined threshold. The program instructions can beconfigured to cause the speaker to emit a second audio command inresponse to the maintenance system determining that the particle size islarger than the predetermined threshold. The second audio command can beconfigured to communicate different information than the first audiocommand to a first rider inside the vehicle.

In some embodiments, the vehicle is configured to drive a first rider toa destination, and the maintenance system comprises at least oneprocessor and at least one memory. The memory can comprise programinstructions configured to be executed by the at least one processor.

In some embodiments, program instructions comprise a first mode and asecond mode. In the first mode, the maintenance system can make thevehicle available to accept a pick-up request of a second rider. In thesecond mode, the maintenance system can make the vehicle unavailable toaccept the pick-up request. The maintenance system can be configured toenter the second mode in response to the smoke detection systemdetecting the smoke inside the vehicle. The maintenance system can beconfigured to exit the second mode and enter the first mode in responseto the smoke detection system no longer detecting the smoke inside thevehicle, the maintenance system detecting that a concentration of thesmoke is less than a predetermined threshold, the maintenance systemreceiving a communication in response to the vehicle having beencleaned, and/or the maintenance system receiving an indication (such asGPS data) indicative of the vehicle having left a cleaning facility.

In some embodiments, a maintenance system is configured to be used witha self-driving vehicle. A maintenance system can comprise a smokedetection system coupled to the vehicle and configured to detect smokeinside a cabin of the vehicle. The smoke detection system can be coupledto the vehicle by being placed inside the vehicle, being attached to aroof of an interior of the vehicle, and/or coupled to the vehicle in anysuitable way configured to enable the smoke detection system to detectsmoke inside the vehicle. A maintenance system can comprise a vehiclemanagement system configured to autonomously drive the vehicle.

In some embodiments, a vehicle management system is configured torespond in response to the smoke detection system detecting the smokeinside the vehicle. Embodiments described herein include many differentways in which the vehicle management system can respond to the smokedetection system detecting smoke inside the vehicle. Responses canprotect the safety of riders inside the vehicle and/or can reduce smokedamage to the vehicle.

In some embodiments, a maintenance system comprises a communicationsystem configured to send a first wireless communication to a remotecomputing device in response to the smoke detection system detecting thesmoke inside the vehicle. The remote computing device can be associatedwith a manager of the vehicle such that the first wireless communicationis configured to notify the manager regarding the smoke inside thevehicle.

In some embodiments, the vehicle management system comprises a motorconfigured to roll down a window of the vehicle, and the vehiclemanagement system is configured to use the motor to automatically rolldown the window in response to the smoke detection system detecting thesmoke inside the vehicle.

In some embodiments, the vehicle management system comprises a motorconfigured to roll down a window of the vehicle. The vehicle managementsystem can comprise a rain sensor configured to detect an indication ofrain on the vehicle. The vehicle management system can be configured touse the motor to automatically roll down the window in response to thesmoke detection system detecting the smoke inside the vehicle and inresponse to the rain sensor not detecting the indication of the rain.

In some embodiments, the vehicle management system comprises a motorconfigured to roll down a window of the vehicle. The smoke detectionsystem can be configured to analyze a particle size of the smoke todetermine if the particle size is smaller than a predeterminedthreshold. The vehicle management system can be configured to use themotor to automatically roll down the window in response to the smokedetection system detecting the smoke inside the vehicle and determiningthat the particle size is less than the predetermined threshold.

In some embodiments, the vehicle management system comprises atemperature management system. The temperature management system cancomprise a thermometer, an air conditioner, a heater, and a ventilationsystem. The ventilation system can comprise a fan configured tocirculate air in the cabin of the vehicle. The vehicle management systemcan be configured to increase and/or decrease an ambient temperatureinside the cabin by at least ten degrees Fahrenheit in response to thesmoke detection system detecting the smoke inside the vehicle. Inresponse to the smoke detection system detecting the smoke inside thevehicle, the vehicle management system can increase and/or decrease theambient temperature to decrease a comfort level of a first rider.

In some embodiments, the maintenance system comprises at least oneprocessor and at least one memory having program instructions configuredto be executed by the at least one processor. The program instructionscan be configured to cause the vehicle management system to at least oneof increase and decrease the ambient temperature by at least ten degreesFahrenheit and by less than thirty degrees Fahrenheit. In response tothe smoke detection system detecting smoke inside the vehicle, theprogram instructions can cause the vehicle management system to increaseand/or decrease the ambient temperature (e.g., by at least ten degreesFahrenheit and/or by less than thirty degrees Fahrenheit) to decreasethe comfort level of a rider inside the vehicle.

In some embodiments, the vehicle management system comprises a speakerand/or a display screen. At least one of the speaker and the displayscreen can be configured to provide at least one of audio instructionsand visual instructions to the first rider. At least one of the audioinstructions and the visual instructions can be configured to instructthe first rider to cease smoking in order to enable changing the ambienttemperature to increase the comfort level.

In some embodiments, the smoke detection system is configured to analyzea particle size of the smoke to determine if the particle size issmaller than a predetermined threshold. The vehicle management systemcan be configured to increase and/or decrease the ambient temperatureinside the cabin (to decrease the comfort level of the first rider) inresponse to the maintenance system detecting the smoke inside thevehicle and determining that the particle size is smaller than thepredetermined threshold.

In some embodiments, the vehicle management system is configured toautomatically at least partially restore (e.g., increase) the comfortlevel in response to the smoke detection system no longer detecting thesmoke inside the vehicle, detecting that a concentration of the smoke isless than a predetermined threshold, detecting that a concentration ofthe smoke is decreasing, and/or detecting that a concentration of thesmoke has decreased by at least a predetermined amount and/or ratio.

In some embodiments, the vehicle management system comprises a lightingsystem configured to illuminate at least a portion of an interior of thevehicle. The lighting system can comprise at least one light coupled toan interior of the vehicle. The lighting system can be configured toilluminate at least one of a seat of the vehicle and a majority of thecabin (of the vehicle). The vehicle management system can be configuredto use the lighting system to illuminate at least one of the seat andthe majority of the cabin in response to the smoke detection systemdetecting the smoke inside the vehicle.

In some embodiments, the maintenance system comprises at least oneprocessor and at least one memory having program instructions that whenexecuted by the at least one processor are configured to cause thevehicle management system to illuminate at least one of the seat and themajority of the cabin in response to the smoke detection systemdetecting the smoke inside the vehicle.

In some embodiments, the vehicle management system is configured tocease illuminating at least one of the seat and the majority of thecabin in response to the smoke detection system in response to the smokedetection system no longer detecting smoke inside the vehicle, detectingthat a concentration of the smoke is less than a predeterminedthreshold, detecting that a concentration of the smoke is decreasing,and/or detecting that a concentration of the smoke has decreased by atleast a predetermined amount and/or ratio.

In some embodiments, the smoke detection system is configured to analyzea particle size of the smoke to determine if the particle size issmaller than a predetermined threshold. The vehicle management systemcan be configured to illuminate at least one of the seat of the vehicleand the majority of the cabin in response to the maintenance systemdetecting the smoke inside the vehicle and determining that the particlesize is smaller than the predetermined threshold.

In some embodiments, the vehicle management system comprises at leastone of a speaker and a display screen. At least one of the speaker andthe display screen can be configured to provide at least one of audioinstructions and visual instructions to a first rider inside thevehicle. At least one of the audio instructions and the visualinstructions can be configured to instruct the first rider to ceasesmoking while at least one of the seat and the majority are illuminatedby the lighting system.

In some embodiments, the smoke detection system (that is coupled to thevehicle) comprises an ionization smoke detector configured to detectcigarette smoking and comprises an optical smoke detector configured todetect electronic cigarette aerosol by analyzing a particle size of theaerosol and determining that the particle size is indicative ofelectronic cigarette use.

In some embodiments, the maintenance system comprises a communicationsystem configured to send a first wireless communication to a remotecomputing device in response to the smoke detection system detecting thesmoke. The smoke detection system (coupled to the vehicle) can beconfigured to analyze a particle size of the smoke. The communicationsystem can be configured to send the first wireless communicationidentifying the smoke as an aerosol in response to the smoke detectionsystem determining that the particle size is greater than apredetermined threshold. The communication system can be configured tosend the first wireless communication identifying the smoke as cigarettesmoking in response to the smoke detection system determining that theparticle size is less than the predetermined threshold. The smokedetection system can comprise an optical smoke detector configured toanalyze the particle size.

The disclosure also includes a safety system comprising a self-drivingvehicle, a vehicle management system configured to autonomously drivethe self-driving vehicle, and a smoke detection system coupled to theself-driving vehicle and configured to detect smoke inside a cabin ofthe self-driving vehicle.

In many embodiments, the self-driving vehicle comprises a door and adoor lock configured to impede opening the door. In some embodiments,the safety system comprises at least one processor and at least onememory having program instructions that when executed by the at leastone processor are configured to cause the vehicle management system tounlock the door of the self-driving vehicle in response to the smokedetection system detecting the smoke inside the self-driving vehicle.

In some embodiments, the safety system includes a speed detectionsystem, wherein the program instructions are configured to cause thevehicle management system to automatically unlock the door in responseto the smoke detection system detecting the smoke inside theself-driving vehicle and the speed detection system determining that theself-driving vehicle is moving at a first speed that is less than afirst speed threshold. In some embodiments, the first speed threshold isless than 30 miles per hour.

In some embodiments, the safety system includes a speed detectionsystem, wherein the program instructions are configured to cause thevehicle management system to unlock the door in response to the smokedetection system detecting the smoke inside the self-driving vehicle andthe speed detection system determining that the self-driving vehicle ismoving at a first speed that is less than a first speed threshold,wherein the first speed threshold is less than 30 miles per hour.Furthermore, the program instructions may be configured to cause themotor to at least partially open the door in response to the smokedetection system detecting the smoke inside the self-driving vehicle andthe speed detection system determining that the self-driving vehicle ismoving at a second speed that is less than a second speed threshold,wherein the second speed threshold is less than 15 miles per hour.

Additionally, in some embodiments, the self-driving vehicle comprises amotor configured to at least partially open the door, wherein theprogram instructions are configured to cause the motor to at leastpartially open the door in response to the smoke detection systemdetecting the smoke inside the self-driving vehicle.

The self-driving vehicle comprises a window and a motor configured to atleast partially open the window, wherein the program instructions areconfigured to cause the motor to at least partially open the window inresponse to the smoke detection system detecting the smoke inside theself-driving vehicle.

In some embodiments, the smoke detection system is configured to detecta concentration of the smoke, and the program instructions areconfigured to cause the vehicle management system to automaticallyunlock the door of the self-driving vehicle in response to the smokedetection system detecting the smoke inside the self-driving vehicle andthe safety system determining the concentration of the smoke is greaterthan a predetermined threshold.

Furthermore, in some embodiments, the smoke detection system isconfigured to detect a particle size of the smoke, and the vehiclemanagement system is configured to unlock the door in response to thesmoke detection system detecting the smoke inside the self-drivingvehicle and the safety system determining the particle size is smallerthan a predetermined threshold.

In some embodiments, the self-driving vehicle comprises a window and amotor configured to at least partially open the window. Accordingly, insome embodiments, the smoke detection system is configured to detect aparticle size of the smoke, the program instructions are configured tocause the vehicle management system to unlock the door in response tothe safety system determining the particle size is smaller than a firstpredetermined threshold. In some embodiments, the program instructionsare configured to cause the motor to at least partially open the windowin response to the safety system determining the particle size is largerthan a second predetermined threshold.

Even still, in some embodiments, the self-driving vehicle comprises anactuator configured to move the door lock to an unlocked state.Accordingly, in some embodiments, the smoke detection system comprises acamera and at least one of an ionization smoke detector and an opticalsmoke detector, wherein the camera is configured to take a pictureshowing at least a portion of the cabin. In some embodiments, theprogram instructions are configured to cause the motor to at leastpartially open the window in response to the safety system determiningthat the picture shows the smoke, and the program instructions areconfigured to cause the actuator to move the door lock to the unlockedstate in response to at least one of the ionization smoke detector andthe optical smoke detector detecting the smoke inside the self-drivingvehicle.

In some embodiments, the program instructions are configured toautomatically unlock the door lock in response to the smoke detectionsystem detecting the smoke inside the self-driving vehicle and thesafety system receiving a verification input from a rider. Theverification input is configured to confirm a presence of the smoke inthe self-driving vehicle.

Additionally, in some embodiments, the self-driving vehicle comprises adisplay screen. Accordingly, in some embodiments, the programinstructions are configured to receive the verification input from therider via at least one of the display screen and a button pressed by therider in response to a visual request shown on the display screen. Inresponse to the smoke detection system detecting the smoke, the programinstructions may be configured to cause the display screen to emit thevisual request for the rider to confirm the presence of the smoke.

Furthermore, in some embodiments, the self-driving vehicle comprises amicrophone and a speaker. In some embodiments, the verification inputcomprises a verbal response received from the rider via the microphonein response to the program instructions causing the speaker to emit anaudio request for the rider to confirm the presence of the smoke, and inresponse to the smoke detection system detecting the smoke, the programinstructions are configured to cause the speaker to emit the audiorequest.

In some embodiments, the self-driving vehicle comprises a camera, andthe verification input comprises a gesture made by the rider andrecorded by the camera. Additionally, in some embodiments, theverification input comprises a wireless communication transmitted from aremote computing device of the rider to the safety system.

In some embodiments, the self-driving vehicle comprises a speaker, andin response to the smoke detection system detecting the smoke inside theself-driving vehicle, the program instructions are configured to causethe speaker to emit audio instructions, wherein the audio instructionsare configured to alert a rider regarding at least one of the smoke andthe door being unlocked.

In some embodiments, the self-driving vehicle comprises a displayscreen, and in response to the smoke detection system detecting thesmoke inside the self-driving vehicle, the program instructions areconfigured to cause the display screen to show visual instructions to arider, wherein the visual instructions are configured to alert the riderregarding at least one of the smoke and the door being unlocked.

Even still, in some embodiments, the safety system includes atemperature detection system coupled to the self-driving vehicle andconfigured to detect a temperature inside at least a portion ofself-driving vehicle. The program instructions may thereby be configuredto cause the vehicle management system to unlock the door in response tothe smoke detection system detecting the smoke inside the self-drivingvehicle and the temperature detection system detecting the temperaturegreater than a predetermined temperature threshold. In some embodiments,the temperature detection system comprises a camera system configured toidentify the smoke. Furthermore, in some embodiments, the temperature islocated within 24 inches of the smoke. In other words, in someembodiments, the temperature detection system is configured to detect atemperature within 24 inches of the smoke, within 12 inches of thesmoke, and even within 1 inch of the smoke.

Furthermore, in some embodiments, the door comprises an unlocked stateand a locked state, and the program instructions are configured toverify the door is in the unlocked state in response to the smokedetection system detecting the smoke inside the self-driving vehicle.

The disclosure also includes a safety system comprising a self-drivingvehicle configured to transport a rider, a vehicle management systemconfigured to autonomously drive the self-driving vehicle, a seatcoupled to the self-driving vehicle, and a seat belt configured toalternatively have a buckled state and an unbuckled state. In someembodiments, when the seat belt is in the buckled state the seat belt isconfigured to secure the rider in the seat and in the unbuckled statethe seat belt is configured to enable the rider to exit the seat. Inmany embodiments, the safety system further includes a smoke detectionsystem coupled to the self-driving vehicle and configured to detectsmoke inside a cabin of the self-driving vehicle.

In some embodiments, the safety system further includes at least oneprocessor and at least one memory having program instructions that whenexecuted by the at least one processor are configured to cause thevehicle management system to switch the seat belt from the buckled stateto the unbuckled state in response to the smoke detection systemdetecting the smoke inside the self-driving vehicle.

Additionally, in some embodiments, the safety system includes a firstactuator configured to switch the seat belt from the buckled state tothe unbuckled state, wherein the program instructions are configured tosend a control signal to the first actuator in response to the smokedetection system detecting the smoke inside the self-driving vehicle,wherein the control signal is configured to cause the first actuator toswitch the seat belt from the buckled state to the unbuckled state.

Even still, in some embodiments, the safety system further includes aseat belt sensor configured to detect the buckled state of the seatbelt, wherein the program instructions are configured to cause thevehicle management system to switch the seat belt from the buckled stateto the unbuckled state in response to the smoke detection systemdetecting the smoke inside the self-driving vehicle and the seat beltsensor detecting the buckled state.

The safety system may also include an occupancy sensor configured todetect the rider sitting in the seat, wherein the program instructionsare configured to cause the vehicle management system to switch the seatbelt from the buckled state to the unbuckled state in response to thesmoke detection system detecting the smoke inside the self-drivingvehicle and the occupancy sensor detecting the rider sitting in theseat.

In some embodiments, the safety system further includes a seat beltsensor configured to detect the buckled state of the seat belt, whereinthe program instructions are configured to cause the vehicle managementsystem to switch the seat belt from the buckled state to the unbuckledstate in response to the smoke detection system detecting the smokeinside the self-driving vehicle, the occupancy sensor detecting therider sitting in the seat, and the seat belt sensor detecting thebuckled state.

Furthermore, in some embodiments, the safety system includes a speeddetection system, wherein the program instructions are configured tocause the vehicle management system to automatically switch the seatbelt from the buckled state to the unbuckled state in response to thesmoke detection system detecting the smoke inside the self-drivingvehicle and the speed detection system determining that the self-drivingvehicle is moving at a first speed that is less than a first speedthreshold. In some embodiments, the first speed threshold is less than30 miles per hour. In some embodiments, the first speed threshold isgreater than one mile per hour.

In some embodiments, the self-driving vehicle comprises a door, a doorlock configured to impede opening the door, and a door lock actuatorconfigured to arrange the door lock to an unlocked state. Accordingly,in some embodiments, the program instructions are configured to causethe door lock actuator to unlock the door in response to the smokedetection system detecting the smoke inside the self-driving vehicle.

Accordingly, in some embodiments, wherein the self-driving vehiclecomprises a door actuator configured to at least partially open thedoor, the program instructions are configured to cause the door actuatorto at least partially open the door in response to the smoke detectionsystem detecting the smoke inside the self-driving vehicle.

Additionally, in some embodiments, wherein the self-driving vehiclecomprises a door actuator configured to at least partially open thedoor, the program instructions are configured to cause the door actuatorto at least partially open the door in response to the smoke detectionsystem detecting the smoke inside the self-driving vehicle. In someembodiments, the safety system further comprises a speed detectionsystem, and the program instructions are configured to cause the vehiclemanagement system to switch the seat belt from the buckled state to theunbuckled state in response to the smoke detection system detecting thesmoke inside the self-driving vehicle and the speed detection systemdetermining that the self-driving vehicle is moving at a first speedthat is less than a first speed threshold, wherein the first speedthreshold is less than 30 miles per hour. In some embodiments, theprogram instructions are configured to cause the door actuator to atleast partially open the door in response to the smoke detection systemdetecting the smoke inside the self-driving vehicle and the speeddetection system determining that the self-driving vehicle is moving ata second speed that is less than a second speed threshold, wherein thesecond speed threshold is less than 15 miles per hour. In someembodiments, the first speed threshold is greater than 1 mile per hourand is greater than the second speed threshold.

In some embodiments, wherein the self-driving vehicle comprises a windowand a motor configured to at least partially open the window, wherein inresponse to the smoke detection system detecting the smoke inside theself-driving vehicle the program instructions are configured to causethe motor to at least partially open the window prior to the seat beltswitching from the buckled state to the unbuckled state.

In some embodiments, the smoke detection system is configured to detecta concentration of the smoke, and the program instructions areconfigured to cause the vehicle management system to automaticallyswitch the seat belt from the buckled state to the unbuckled state inresponse to the smoke detection system detecting the smoke inside theself-driving vehicle and the safety system determining the concentrationof the smoke is greater than a predetermined threshold.

Additionally, in some embodiments, the smoke detection system isconfigured to detect a particle size of the smoke, and the vehiclemanagement system is configured to switch the seat belt from the buckledstate to the unbuckled state in response to the smoke detection systemdetecting the smoke inside the self-driving vehicle and the safetysystem determining the particle size is smaller than a predeterminedthreshold.

In some embodiments, wherein the self-driving vehicle comprises a windowand a motor configured to at least partially open the window, the smokedetection system is configured to detect a particle size of the smoke,the program instructions are configured to cause the vehicle managementsystem to switch the seat belt from the buckled state to the unbuckledstate in response to the safety system determining the particle size issmaller than a first predetermined threshold, and the programinstructions are configured to cause the motor to at least partiallyopen the window in response to the safety system determining theparticle size is larger than a second predetermined threshold.

Furthermore, in some embodiments, wherein the self-driving vehiclecomprises a window and a motor configured to at least partially open thewindow, the smoke detection system comprises a camera and at least oneof an ionization smoke detector and an optical smoke detector, whereinthe camera is configured to take a picture showing at least a portion ofthe cabin. Accordingly, in some embodiments, the program instructionsare configured to cause the motor to at least partially open the windowin response to the safety system determining that the picture shows thesmoke, and the program instructions are configured to cause the vehiclemanagement system to switch the seat belt from the buckled state to theunbuckled state in response to at least one of the ionization smokedetector and the optical smoke detector detecting the smoke inside theself-driving vehicle.

In some embodiments, the safety system further includes a temperaturedetection system coupled to the self-driving vehicle and configured todetect a temperature inside at least a portion of the self-drivingvehicle, wherein the program instructions are configured to cause thevehicle management system to switch the seat belt from the buckled stateto the unbuckled state in response to the smoke detection systemdetecting the smoke inside the self-driving vehicle and the temperaturedetection system detecting that the temperature is greater than apredetermined temperature threshold. In some embodiments, thetemperature detection system comprises a thermal imaging camera.

In some embodiments, the safety system further includes an objectdetection system configured to detect a second vehicle and having atleast one of a camera, a radar, and a lidar, wherein at least one of thecamera, the radar, and the lidar is coupled to the self-driving vehicleto enable the objection detection system to detect the second vehicle,and the program instructions are configured to cause the vehiclemanagement system to switch the seat belt from the buckled state to theunbuckled state in response to the smoke detection system detecting thesmoke inside the self-driving vehicle and in response to at least oneof: the object detection system detecting that the second vehicle is atleast a predetermined distance from the self-driving vehicle, the objectdetection system detecting that the second vehicle is not on a collisioncourse with the self-driving vehicle, and the vehicle management systemdetermining, based on data from the object detection system, that thesecond vehicle has less than a predetermined risk threshold of collidingwith the self-driving vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects, and advantages are described belowwith reference to the drawings, which are intended to illustrate, butnot to limit, the invention. In the drawings, like reference charactersdenote corresponding features consistently throughout similarembodiments.

FIG. 1 illustrates a diagrammatic view that includes a self-drivingvehicle configured to use a camera system, according to someembodiments.

FIG. 2 illustrates a side view of an interior of the self-drivingvehicle with cameras located in several areas, according to someembodiments.

FIG. 3 illustrates a side view of an interior of the self-drivingvehicle with seats facing each other, according to some embodiments.

FIG. 4 illustrates a perspective view of a camera device, according tosome embodiments.

FIG. 5 illustrates a bottom view of the camera device, according to someembodiments.

FIG. 6 illustrates a perspective view of the camera device, according tosome embodiments.

FIGS. 7 and 8 illustrate diagrammatic views regarding a camera system ofa self-driving vehicle, according to some embodiments.

FIG. 9 illustrates a diagrammatic view that includes a self-drivingvehicle, a camera system, and a smoke detection system, according tosome embodiments.

FIGS. 10 and 11 illustrate diagrammatic views of a smoke detectionsystem, according to some embodiments.

FIGS. 12 and 13 illustrate perspective views of portions of a vehicle,according to some embodiments.

FIG. 14 illustrates a diagrammatic view of a temperature detectionsystem, according to some embodiments.

FIGS. 15, 16, and 17 each illustrate perspective views of a door of avehicle, according to some embodiments.

FIG. 18 illustrates a side view of a seat of a vehicle, according tosome embodiments.

FIG. 19 illustrates a perspective view of a seat belt having anchorpoints that can be bolted to a frame of a self-driving vehicle,according to some embodiments.

FIG. 20 illustrates a perspective view of portions of a seat belt,according to some embodiments.

FIGS. 21 and 22 illustrate a perspective view of an actuator of a seatbelt, according to some embodiments.

FIG. 23 illustrates a side view of a vehicle and a diagrammatic view ofvarious devices and systems used in conjunction with the vehicle,according to some embodiments.

DETAILED DESCRIPTION

Although certain embodiments and examples are disclosed below, inventivesubject matter extends beyond the specifically disclosed embodiments toother alternative embodiments and/or uses, and to modifications andequivalents thereof. Thus, the scope of the claims appended hereto isnot limited by any of the particular embodiments described below. Forexample, in any method or process disclosed herein, the acts oroperations of the method or process may be performed in any suitablesequence and are not necessarily limited to any particular disclosedsequence. Various operations may be described as multiple discreteoperations in turn, in a manner that may be helpful in understandingcertain embodiments; however, the order of description should not beconstrued to imply that these operations are order dependent.Additionally, the structures, systems, and/or devices described hereinmay be embodied as integrated components or as separate components.

For purposes of comparing various embodiments, certain aspects andadvantages of these embodiments are described. Not necessarily all suchaspects or advantages are achieved by any particular embodiment. Thus,for example, various embodiments may be carried out in a manner thatachieves or optimizes one advantage or group of advantages as taughtherein without necessarily achieving other aspects or advantages as mayalso be taught or suggested herein.

Self-driving vehicles will save tens of thousands of lives per year. Themajority of vehicle-related deaths are caused by driver errors. Testshave shown that self-driving vehicles nearly eliminate self-inflictedaccidents (although they are not immune to accidents caused by humandrivers of other vehicles).

Self-driving vehicles typically have unlimited attention spans and canprocess complex sensor data nearly instantaneously. (Alphabet Inc. andTesla Motors Inc. have built self-driving vehicles.) The ability ofself-driving vehicles to save lives is so impressive that society has amoral imperative to develop self-driving technology such that it can bewidely adopted.

Although self-driving vehicles will unlock many safety benefits, thereare several barriers to rapid adoption of self-driving vehicles. Some ofthe embodiments described herein overcome several of these barriers.

Self-driving cars are sometimes referred to as autonomous cars,autonomous vehicles, driverless cars, and driverless vehicles. Variouslevels of “self-driving” behaviors are available to sense surroundingenvironments and navigate appropriately (e.g., without hitting objects,in a time-efficient manner). Levels of self-driving vehicles compriseLevel 1 (Driver Assistance), Level 2 (Partial Automation), Level 3(Conditional Automation), Level 4 (High Automation), and Level 5 (FullAutomation). Of course, other levels and distinctions are possible. TheNational Highway Traffic Safety Administration has outlined variouslevels of self-driving vehicle automation based on information from theSociety of Automotive Engineers.

Referring now primarily to FIG. 1, a vehicle management system 65 can beconfigured to govern the destinations of a self-driving vehicle 2. Afirst rider 1 can have a remote computing device 12 running softwareconfigured to enable the first rider 1 to request a ride from a rideservice and/or from a particular vehicle.

The first rider 1 can open an “app” on an iPhone or Android phone. The“app” can allow the first rider 1 to request a pick-up time and pick-uplocation.

The vehicle management system 65 can communicate with the remotecomputing device 12 of the first rider 1 directly (e.g., via radiocommunications such as Bluetooth) or indirectly via intermediarycommunication systems 5. Arrows 17, 18 indicate communication. (Manyadditional communication means and methods are compatible with theembodiments described herein.) An antenna 19 of the self-driving vehicle2 can enable the vehicle management system 65 to communicate with remotecomputing devices 12, 12 b.

A second rider 1 b may request a ride via a second remote computingdevice 12 b. In some cases, the vehicle management system 65 must choosebetween providing a ride to a first rider 1, providing a ride to asecond rider 1 b, and/or going to a first location 8 (e.g., to clean thevehicle prior to providing a ride to the first rider 1 and/or to thesecond rider 1 b). Arrow 15 indicates the self-driving vehicle 2 drivingto the first rider 1 to give the first rider 1 a ride. Arrow 9 indicatesthe self-driving vehicle 2 driving to the first location 8 instead ofdriving to pick up the second rider 1 b right after dropping off thefirst rider 1. Arrow 16 indicates the self-driving vehicle 2 eventuallypicking up the second rider 1 b (e.g., after the self-driving vehicle 2is cleaned).

A person who owns a car is incentivized to keep the car clean becauseany mess the person leave in the car will be an annoyance to the personin the future. In contrast, a rider (who does not own the car) can leavea mess in the car without having to see the mess in the future. As aresult, people who own self-driving vehicles 2 are motivated to keep theself-driving vehicles 2 clean while non-owning riders are more prone toleaving messes in self-driving vehicles 2. Owners of vehicles 2 will notwant to make their self-driving vehicles 2 available for riders 1, 1 bif the owners are concerned that their vehicles 2 will return messy(after providing the rides). Thus, there is a need for systems that helpmaintain self-driving vehicles 2.

An owner of a self-driving vehicle 2 will be reluctant to allow otherriders to use the self-driving vehicle 2 (e.g., while the owner is athome or work) if the self-driving vehicle 2 will return messy. Inaddition, if a first rider 1 leaves a mess in the self-driving vehicle 2(that is not cleaned up), subsequent riders will be unsatisfied withhaving to ride in a messy self-driving vehicle 2.

One option is to clean the self-driving vehicle 2 between each rider.This option, however, is often cost-prohibitive. Unlike rental cars thatare often rented for a day or more at a time, self-driving vehicles 2can be rented for just a few minutes at a time. Driving the self-drivingvehicle 2 to a cleaning station after each few minutes of rental timewould require far too many unnecessary cleanings and unnecessary milesdriven. Some embodiments described herein enable cleaning theself-driving vehicle 2 only when necessary and otherwise permitting theself-driving vehicle 2 to be used by a series of riders without takingthe time to clean the self-driving vehicle 2.

The self-driving vehicle 2 can include two modes. In the first mode, theself-driving vehicle 2 is considered clean and is available to accept apick-up request. If the maintenance system detects that the self-drivingvehicle 2 is unclean inside, then the system can enter a second mode inwhich the self-driving vehicle 2 is unavailable to accept a pick-uprequest and instead heads towards a cleaning facility. Once theself-driving vehicle 2 is clean, the system can enter the first modeagain. As a result, the self-driving vehicle 2 may drop off the firstrider 1, detect that the self-driving vehicle 2 has an item left behindby the first rider 1, and then instead of going to pick up the secondrider 1 b, can go to a cleaning facility. (Another self-driving vehiclecan pick up the second rider 1 b or the second rider 1 b can wait forthe self-driving vehicle 2 to be cleaned and then can receive a ridefrom the self-driving vehicle 2.)

The vehicle management system 65 can be a portion of the self-drivingvehicle 2. Communication between the vehicle 2 and the vehiclemanagement system 65 can occur via electrical wires that couple thevehicle management system 65 to other portions of the vehicle 2.

In some embodiments, the vehicle management system 65 is locatedremotely relative to the self-driving vehicle 2. Communication betweenthe vehicle 2 and the vehicle management system 65 can occur viawireless communications that travel over intermediary communicationsystems 5.

In some embodiments, intermediary communication systems 5 are used toperform each step. Intermediary communication systems 5 can comprisewireless networks, Wi-Fi routers, Bluetooth systems, cellular networks,telephone networks, Internet systems, servers, cloud computing, remotelylocated computers, satellite systems, communication systems, and anyother suitable means of enabling communication between the variouscomponents of embodiments described herein and/or incorporated byreference.

The communicative coupling between the remote computing device 12 andthe vehicle management system 65 can be via intermediary communicationsystems 5. In other words, intermediary communication systems 5 cancommunicatively couple the remote computing device 12 and the vehiclemanagement system 65. This communicative coupling may be viaintermittent wireless communications. For example, the vehiclemanagement system 65 may send a wireless message to the remote computingdevice 12 periodically (e.g., every 10 seconds, every 60 seconds, every10 minutes). As used herein, “periodically” does not imply that everyperiod has the same duration. In some embodiments, the communicativecoupling between the self-driving vehicle 2 and the vehicle managementsystem 65 is via intermediary communication systems 5.

Some embodiments include methods of using the vehicle management system65 to operate the self-driving vehicle 2. The vehicle management system65 is configured to be communicatively coupled with a remote computingdevice 12, which is configured to operate software, such as an iPhoneapplication or an Android application adapted to enable a user tocontrol behaviors of the self-driving vehicle 2. Behaviors can includeactions and non-actions of the self-driving vehicle 2, such as pickingup the user at a location, picking up the user at a time based on aschedule of the user or a time based on past pick-up times, remainingidle, driving to a residence of the user, pulling out of a garage,parking the vehicle, getting gas, charging the vehicle, and the like.

Referring now primarily to FIG. 2, the maintenance system can comprise acamera system having one or more camera devices 10 a, 10 b, 10 c, 10 d,11 a, 11 b. The camera devices 10 a, 10 b, 10 c, 10 d, 11 a, 11 b caninclude any of the features and capabilities described in the context ofthe camera device 10.

Camera devices 10 a, 10 b can be coupled to a ceiling 20 of theself-driving vehicle 2 such that they include cameras directed towardsthe first row of seats and/or towards the second row of seats. Cameradevices 10 c can be placed in a trunk area of the self-driving vehicle 2(e.g., to enable taking pictures and/or videos of items left in thetrunk area).

A camera device 11 a can be integrated into the rear-view mirror of theself-driving vehicle 2. A camera device 11 b can be integrated into thedash of the self-driving vehicle 2. Camera devices 10 a, 10 b, 10 c, 11a, 11 b can be placed in any area of the self-driving vehicle 2.

As illustrated in FIG. 3, the first and second rows of seats can facetowards each other to create a more social riding experience. A cameradevice 10 d can be coupled to an interior of the self-driving vehicle 2.As illustrated in FIG. 3, the camera device 10 d is coupled to theceiling 20 of the self-driving vehicle 2.

FIG. 4 illustrates a perspective view of a camera device. FIG. 5illustrates a bottom view of the camera device 10 coupled to a ceiling20 of the self-driving vehicle 2. FIG. 6 illustrates a perspective viewof the camera device 10 with the ceiling 20 hidden to show a top side ofthe camera device 10. (The top side is configured to face towards theceiling 20 of the self-driving vehicle 2.)

The camera device 10 can include multiple cameras 24 a, 24 b, 24 c. Afirst camera 24 a can be directed in a first direction 25 a (e.g.,towards a front row of seats in the self-driving vehicle 2). A secondcamera 24 b can be directed in a second direction 25 b (e.g., towards amiddle row of seats in the self-driving vehicle 2). A third camera 24 ccan be directed in a third direction 25 c (e.g., towards a third row ofseats in the self-driving vehicle 2).

Each camera 24 a, 24 b, 24 c can include a wide-angle lens 28 to providea wider field of view, which can be particularly helpful in the smallconfines of the self-driving vehicle 2. The cameras 24 a, 24 b, 24 c canbe high-resolution cameras with auto-focus.

The camera device 10 can comprise a rider detection system, acommunication module (with can include an antenna, a transmitter, and areceiver), a printed circuit board populated with integrated circuitsand other electrical components, an image analysis system, a battery, apower management system, a microphone, a speaker, a memory with softwareconfigured to carry out the features described herein, and lightsconfigured to illuminate the interior of the self-driving vehicle 2.

The camera device 10 can comprise a smoke detector configured to detectif a rider is smoking (e.g., cigarettes, vaping) inside the self-drivingvehicle 2. Holes 34 enable the smoke to enter the camera device 10 toenable the smoke detector to detect the smoke. Not all the holes 34 arelabeled to increase the clarity of other features.

The camera device 10 includes buttons that can be configured to enablethe rider to interact physically with the camera device. A first button27 a is configured to summon emergency responders in response to therider pressing the button 27 a. The camera device 10 can call “911” andcan provide the GPS location of the self-driving vehicle 2 to theemergency responders.

A second button 27 b is configured to call a virtual assistant (or alive human assistant) in response to the rider pressing the button 27 b.The assistant can be configured to answer the rider's questions. Thevirtual assistant can use Apple's “Siri” technology or Amazon's “Alexa”technology.

Pressing a third button 27 c can notify the maintenance system that theinterior of the self-driving vehicle 2 needs to be cleaned. Pressing afourth button 27 d can notify the maintenance system that the exteriorof the self-driving vehicle 2 needs to be cleaned.

The camera device 10 can include an outer housing 33 (e.g., molded fromplastic) that snaps onto a molded plastic base plate 31 that is coupledto the ceiling 20 by screws. A hatch 29 can be removed to enableplugging cables into the camera device 10. The cables can provideelectrical power from the self-driving vehicle 2 to the camera device10. The cables can also communicatively couple the camera device 10 toother portions of the self-driving vehicle 2 that communicatively couplethe self-driving vehicle 2 to the vehicle management system 65. Thecables can exit through holes 30 in the hatch 29. The camera device 10can be coupled by wires or wirelessly communicatively coupled to theother elements described herein and/or incorporated by reference.

The vehicle management system 65 can be wirelessly communicativelycoupled to the self-driving vehicle 2 via intermediary communicationsystems 5. The remote computing device 12 can be wirelesslycommunicatively coupled to the vehicle management system 65 viaintermediary communication systems 5. Intermediary communication systems5 can comprise wireless networks, cellular networks, telephone networks,Internet systems, servers, cloud computing, remotely located computers,radio communication systems, satellite systems, communication systems,and any other suitable means of enabling wired and/or wirelesscommunication between the remote computing device 12, the vehiclemanagement system 65, and/or the self-driving vehicle 2.

In embodiments that include elements such as sending information orotherwise communicating, the remote computing device 12, the vehiclemanagement system 65, and the self-driving vehicle 2 can do theseelements by using intermediary communication systems 5. For example, theremote computing device 12, the vehicle management system 65, and theself-driving vehicle 2 may send wireless communications and/or receivewireless communications via intermediary communication systems 5, whichcan serve as a communication bridge between the remote computing device12, the vehicle management system 65, and the self-driving vehicle 2.

FIG. 7 illustrates a diagrammatic view of the camera device 10 andvarious images. The camera device 10 can take a first baseline image 35(e.g., prior to the first rider 1 entering the self-driving vehicle 2).The camera device 10 can take a second image 36 in response to the firstrider 1 exiting the self-driving vehicle 2. An image analysis system 70can subtract the first baseline image 35 from the second image 36 todetermine what features are in the second 36 but not in the firstbaseline image 35.

As shown in the subtraction result image 37, the first rider 1 left avaluable item 39 behind in the self-driving vehicle 2 and also lefttrash 40 behind in the self-driving vehicle 2. The system can send apicture of the valuable item 39 (e.g., a backpack or purse) to the firstrider 1 to determine if the first rider 1 wants the system to return thevaluable item 39 to the first rider 1. The system can remove thevaluable item 39 prior to picking up a second rider 1 b (to prevent thesecond rider from stealing the valuable item 39). In some embodiments,the system places the valuable item 39 in the trunk (and locks thetrunk) prior to picking up the second rider 1 b.

The system can determine the self-driving vehicle 2 needs to be cleanedprior to picking up the second rider 1 b in response to detecting thetrash 40.

Some embodiments use machine vision to detect the items 39, 40 leftbehind by analyzing the second image 36 without analyzing or needing thefirst baseline image 35. For example, software can be configured todetect that a backpack has been left in the self-driving vehicle 2 evenif no baseline image 35 is available. In some cases, the first baselineimage 35 can increase the accuracy and reliability of the system (e.g.,by reducing false positives and false negatives).

Machine vision can recognize that shapes or even colors are indicativeof an item not being part of the vehicle 2 (and thus the item is likelysomething left behind by a rider). Machine vision can recognize commonshapes (e.g., a backpack, a purse, a laptop, a coffee mug, a fast-foodbag, a person, a dog).

FIG. 8 illustrates a diagrammatic view of the system deciding to pick upa second rider 1 b or deciding to go to a first location 8 (e.g., toremove an item left behind by a first rider 1). The system can detectitems 39, 40 left behind by analyzing the second image 36 to detectthings that should not be in the self-driving vehicle 2 after a rider 1has left the self-driving vehicle 2.

The system can detect items 39, 40 left behind by comparing the secondimage 36 to a baseline image 35 (of items that should be located in thevehicle 2). If the system detects items 39, 40 (e.g., as illustrated inimage 37), then the system can send the self-driving vehicle 2 to thefirst location 8. If the system does not detect any items left behind(e.g., as illustrated in image 38), then the system can pick up thesecond rider 1 b.

FIG. 9 illustrates some of the elements of the maintenance system. Eachof the elements illustrated in FIG. 9 is optional and is not necessarilypresent in each embodiment.

The maintenance system can include a camera device 10, which can includememory 75 having many images 35, 36, 53, 54, 55, 56 taken by the cameradevice 10. The camera device 10 can be communicatively coupled to avehicle management system 65.

The vehicle management system 65 can be communicatively coupled to animage analysis system 70, a communication system 71, a smoke detectionsystem 74, a memory 75 having program instructions 76, computer systems7 having processors 77, a location system 43, map information 45configured to help the vehicle 2 navigate to destinations, a trafficmonitoring system 46 configured to receive up-to-date trafficinformation to enable the vehicle management system 65 to choose optimalroutes to destinations, and a vehicle control system 78.

The vehicle control system 78 is configured to steer, brake, andaccelerate the vehicle 2. The vehicle control system 78 is alsoconfigured to detect roads and obstacles on the roads.

The location system 43 is configured to receive a location of the remotecomputing device 12 associated with the first rider 1 and is configuredto receive a location of the remote computing device 12 b associatedwith the second rider 1 b. The remote computing devices 12, 12 b cansend GPS, indoor location information, and/or other location informationto the location system 43 to help the vehicle management system 65determine where to pick up the rider 1, 1 b and/or determine where todrop off an item left behind by a rider 1, 1 b.

A user of a remote computing device can complete a number of steps toassociate the remote computing device with herself. For example, AppleInc. makes iPhones, Apple Watches, iPads, laptop computers, and otherremote computing devices. A user can associate the iPhone, Apple Watch,iPad, laptop computer, or other remote computing device made by AppleInc. by (1) turning on the device, (2) using the “Quick Start” option ifthe user has another device running iOS or selecting the “Set UpManually” option, (3) activating the device and choosing a Wi-Finetwork, (4) setting up “Face ID” and creating a password, and (5)signing in with an “Apple ID.” Of course, other remote computing devicesuse other methods to associate a remote computing device with aparticular user.

In some cases, a remote computing device is associated with a usersimply because the remote computing device is in the user's possessionand/or is being used by the user.

The communication system 71 can include a transmitter 72, a receiver 73,and an antenna 19. The antenna 19 can communicatively couple the vehiclemanagement system 65 to remote computing devices 12, 12 b of riders 1, 1b. The antenna 19 can communicatively couple the vehicle managementsystem 65 to remote computing devices 12 c of a manager of the vehicle2.

The vehicle management system 65 can be communicatively coupled to anaccount 80 of a rider 1 to enable the system to fine the rider 1 forleaving items 39, 40 in the vehicle 2. The fine can be a dollar amount(e.g., $20) such as a trash 40 removal fee or a fee to return a valuableitem 39 to a rider 1.

Some embodiments comprise a maintenance system configured to be usedwith a self-driving vehicle 2. In some embodiments, maintenance systemscomprise a camera system coupled to an interior of the vehicle 2. Thecamera system can be configured to take a picture of an item left behindby a first rider. A maintenance system can comprise a vehicle managementsystem configured to autonomously drive the vehicle 2 to a firstlocation 8 to remove the item.

As used herein, a self-driving vehicle 2 can “autonomously drive” if thevehicle 2 is steering itself even if a person is providing inputregarding navigation of the vehicle 2. The vehicle 2 can be configuredto transport one or more passengers.

As used herein, a still image and a video can both be types of pictures.As used herein, a still image and a video can both be types of images.

In some embodiments, the camera system comprises a first camera coupledto a ceiling of the vehicle 2 and directed towards a first row of thevehicle 2, and the camera system comprises a second camera coupled tothe ceiling of the vehicle 2 and directed towards a second row of thevehicle 2. (The first camera can be directed towards a first row if animage taken by the camera shows the first row. The second camera can bedirected towards a second row if an image taken by the camera shows thesecond row.)

In some embodiments, the camera system comprises a first camera coupledto a rear-view mirror of the vehicle 2 and directed towards a first rowof the vehicle 2, and the camera system comprises a second cameracoupled to a ceiling of the vehicle 2 and directed towards a second rowof the vehicle 2.

In some embodiments, the camera system comprises a first camera locatedin a trunk area of the vehicle 2 such that the first camera isconfigured to enable an image analysis system 70 to determine if theitem is left in the trunk area.

In some embodiments, the maintenance system comprises an image analysissystem 70 configured to detect the item left behind by comparing a firstbaseline image 35 taken by the camera system of the interior of thevehicle 2 to a second image 36 taken by the camera system after thefirst baseline image 35. Some embodiments comprise determining that theitem is present in the second image 36 but not present in the firstbaseline image 35.

In some embodiments, the vehicle management system is configured toautomatically drive the vehicle 2 to the first location 8 to remove theitem in response to the image analysis system 70 detecting the item leftby the first rider.

Some embodiments comprise a communication system 71 configured to send afirst wireless communication to a remote computing device 12 associatedwith the first rider in response to the image analysis system 70detecting the item left behind by the first rider. The first wirelesscommunication can be configured to notify the first rider that the itemwas left behind.

The communication system 71 can be configured to send the first wirelesscommunication to a remote computing device 12 directly (e.g., via radiocommunications) or indirectly (e.g., via intermediary communicationsystems 5).

In some embodiments, the communication system 71 is configured to send asecond wireless communication comprising a third image 53 of the item tothe remote computing device 12 in response to the image analysis system70 detecting the item left behind by the first rider. The third image 53can enable the rider to see the item on a display of her remotecomputing device 12.

In some embodiments, the vehicle management system is configured toreceive an address of the first location 8 from the remote computingdevice 12 in response to the communication system 71 sending the firstwireless communication. The vehicle management system can be configuredto receive the address from the remote computing device directly orindirectly.

As used herein, “address” is used broadly and is not limited to a streetaddress. An address can be a Global Positioning System (“GPS”) locationand can be any other location indicator. An address can be an indoorlocation (e.g., a location inside a large shopping center or apartmentcomplex).

In some embodiments, the first location 8 is an address at which thefirst rider has requested to pick up the item. The address can be therider's current address. The address can also be a location at which therider is not currently located by at which the rider (or the rider'srepresentative) plans to meet the vehicle 2 (or another vehicle 2carrying the item) to retrieve the item.

In some embodiments, the communication system 71 is configured toreceive a third wireless communication from the remote computing device12 associated with the first rider in response to the communicationsystem 71 sending the first wireless communication. The third wirelesscommunication can comprise instructions for shipping the item. Theinstructions can comprise an address to which the system should ship theitem. The instructions can comprise a manner in which the item should beshipped.

In some embodiments, the first location 8 is a shipping location (suchas a FedEx, UPS, or USPS facility) configured to remove the item fromthe vehicle 2 and configured to ship the item according to the shippinginstructions. The vehicle management system can be configured to enableremoving the item from the vehicle 2 once the vehicle 2 is located atthe shipping location. The vehicle 2 can unlock a door to enableremoving the item. The vehicle 2 can send a smaller, short-rangedelivery robot to deliver the item to the shipping location.

In some embodiments, the vehicle management system is configured toreceive the first location 8 of a service area configured to clean thevehicle 2. The vehicle management system can be configured to drive thevehicle 2 to the service area to remove the item in response to theimage analysis system 70 detecting the item left by the first rider.

Some embodiments comprise a third image 54 taken by the camera system inresponse to the vehicle 2 leaving the service area. Some embodimentscomprise a communication system 71 configured to send a first wirelesscommunication comprising the third image 54 to a remote computing device12 c associated with a manager of the vehicle 2. The first wirelesscommunication can be configured to enable the manager to verify that theitem was removed from the vehicle 2.

Some embodiments comprise a third image 56 taken by the camera system.The image analysis system 70 can be configured to compare the thirdimage 56 to the second image 36 to detect that the item was removed fromthe vehicle 2.

In some embodiments, the vehicle management system is configured to finean account of the first rider in response to the image analysis system70 detecting the item left behind by the first rider. The fine can be asum imposed as a punishment for leaving the item.

In some embodiments, a communication system 71 is configured to send afirst wireless communication to a remote computing device 12 associatedwith the first rider in response to the image analysis system 70detecting the item left behind by the first rider. The communicationsystem 71 can be configured to send the first wireless communication toa remote computing device 12 directly (e.g., via radio communications)or indirectly (e.g., via intermediary communication systems 5).

The first wireless communication can comprise a third image 53 taken bythe camera system. The third image 53 can be configured to show theitem. The first wireless communication can be configured to ask thefirst rider if the item belongs to the first rider. The communicationsystem 71 can be configured to receive a second wireless communicationfrom the remote computing device 12 in response to the first wirelesscommunication. The second wireless communication can be configured toinform the maintenance system that the first rider is an owner of theitem. The maintenance system can comprise a memory configured to recordthat the first rider is the owner of the item.

In some embodiments, the system is configured to automatically drive thevehicle 2 to the rider's current location (e.g., a GPS location).

In some embodiments, the maintenance system comprises a locationdetection system 43 configured to receive the first location 8 of aremote computing device 12 associated with the first rider to enable thevehicle management system to autonomously drive the vehicle 2 to thefirst location 8 in response to an image analysis system 70 detectingthe item left by the first rider. The image analysis system 70 can be apart of the camera system. The image analysis system 70 can be locatedremotely from the vehicle 2.

Some embodiments notify a manager of the vehicle 2 that an item was leftbehind.

In some embodiments, the maintenance system comprises an image analysissystem 70 configured to detect the item left behind by comparing a firstbaseline image 35 taken by the camera system of the interior of thevehicle 2 to a second image 36 (of the interior) taken by the camerasystem after the first baseline image 35.

In some embodiments, the maintenance system comprises a communicationsystem 71 having an antenna 19, a transmitter 72, and a receiver 73. Thecommunication system 71 can be configured to send a first wirelesscommunication to a remote computing device 12 c associated with amanager of the vehicle 2 in response to the image analysis system 70detecting the item left behind by the first rider.

As used herein, the “manager” can be a person (other than a rider who isjust renting the vehicle 2) or entity who is responsible for the vehicle2. The manager can be an owner of the vehicle 2. The manager can be aperson or entity to whom the owner has entrusted management of thevehicle 2 and/or maintenance of the vehicle 2.

The communication system 71 can be configured to send the first wirelesscommunication to a remote computing device 12 directly (e.g., via radiocommunications) or indirectly (e.g., via intermediary communicationsystems 5).

In some embodiments, the first wireless communication is configured tonotify the manager that the item was left behind. The communicationsystem 71 can be configured to send a second wireless communicationcomprising a third image of the item to the remote computing device 12 cin response to the image analysis system 70 detecting the item leftbehind by the first rider.

In some embodiments, the vehicle management system is configured toreceive a third wireless communication from the remote computing devicein response to the communication system 71 sending the first wirelesscommunication. The third second wireless communication can be configuredto instruct the vehicle management system to autonomously drive thevehicle 2 to the first location 8 to remove the item.

In some embodiments, the vehicle management system is configured todetermine that the first rider has exited the vehicle 2. The vehiclemanagement system can be configured to cause the camera system to take afirst interior image of the interior of the vehicle 2 in response todetermining that the first rider has exited the vehicle 2.

In some embodiments, the maintenance system further comprises an imageanalysis system 70 having at least one processor 77 and a memory 75comprising program instructions (e.g., code modules configured to beexecuted by one or more computers) that when executed by the at leastone processor are configured to cause the image analysis system 70 todetect the item left behind by analyzing the first interior image takenby the camera system after the first rider has exited the vehicle 2. Thefirst location 8 can be a vehicle cleaning facility. The vehiclemanagement system can be configured to drive the vehicle 2 to thevehicle cleaning facility to remove the item in response to the imageanalysis system 70 detecting the item.

In some embodiments, the vehicle management system comprises a firstmode and a second mode. In the first mode, the vehicle management systemcan be configured to make the vehicle 2 available to accept a pick-uprequest of a second rider. In the second mode, the vehicle managementsystem can be configured to make the vehicle 2 unavailable to accept thepick-up request at that time (although the vehicle management system 65can record the pick-up request such that the vehicle 2 can pick-up theperson at a future time, such as after the vehicle 2 has been cleaned).As used herein, “available to accept a pick-up request” means that thevehicle 2 is ready to go pick up the person. As used herein,“unavailable to accept the pick-up request” means that the vehicle 2 isnot ready to go pick up the person, but the pick-up can still bescheduled for a future time (e.g., after the vehicle 2 has been cleanedat a cleaning facility).

The vehicle management system can be configured to be in the second modefrom a first time at which the image analysis system 70 detects the itemleft behind. The vehicle management system can be configured to exit thesecond mode and enter the first mode in response to at least one of theitem being removed, receiving an indication that the vehicle 2 has beencleaned, and the vehicle 2 leaving a vehicle cleaning station. In someembodiments, the indication that the vehicle 2 has been cleanedcomprises a wireless communication (e.g., from the cleaning facility)that communicates that the vehicle 2 has been cleaned.

In some embodiments, the vehicle management system is configured todetermine that the first rider has exited the vehicle 2 in response to(1) receiving a location of a remote computing device 12 associated withthe first rider and determining that the location is not inside thevehicle 2, (2) failing to detect a direct wireless communication fromthe remote computing device 12 to an antenna of the vehicle 2, (3)determining, by the image analysis system 70, that a second interiorimage does not show the first rider, and/or (4) determining, by theimage analysis system 70, that an infrared image of the interior of thevehicle 2 does not show the first rider.

As used herein, a “direct wireless communication” is a wirelesscommunication that does not use intermediary communication systems 5 forcommunicative coupling between the remote computing device 12 and anantenna 19 that is mechanically coupled to the vehicle 2. For example,the vehicle 2 can communicate directly with a remote computing device 12located inside the vehicle 2 via Bluetooth. This Bluetooth communicationis one example of a direct wireless communication. Other communicationprotocols other can Bluetooth can also enable direct wirelesscommunication. Other radio communication systems can enable directwireless communication.

In some embodiments, the maintenance system comprises at least oneprocessor 77 and a memory 75 comprising program instructions that whenexecuted by the at least one processor cause the maintenance system to(1) compare a first baseline image 35 taken by the camera system of theinterior of the vehicle 2 to a second image 36 taken by the camerasystem after the first baseline image 35 to detect the item left behindby the first rider, and/or (2) drive, by the vehicle management system,the vehicle 2 to the first location 8 to remove the item in response tothe detecting the item. The program instructions can comprise codemodules configured to be executed by one or more computers located inthe vehicle 2 and/or located away from the vehicle 2.

In some embodiments, the first location 8 is a first vehicle cleaningfacility. The program instructions can be configured to select the firstvehicle cleaning facility based at least in part on determining adistance from the vehicle 2 to the first vehicle cleaning facilityand/or based at least in part on determining that the first vehiclecleaning facility is approved by a manager of the vehicle 2.

A manager can receive a list of vehicle cleaning facilities. The listcan include prices, services offered, user reviews, and locations. Themanager can then select which of the vehicle cleaning facilities sheapproves. Once approved, the system can select which of the approvedfacilities to use to clean the vehicle 2 based on many factors includingwhich facility is open, which facility is closest to the currentlocation of the vehicle 2, and which facility will be closest to ananticipated future location of the vehicle 2.

The memory 75 can comprise a list of vehicle cleaning facilities thatwere approved by the manager of the vehicle 2. The list can include alocation of each cleaning facility. The program instructions can beconfigured to choose a cleaning facility that was previously approved bythe manager and is located near the current location of the vehicle 2.

In some embodiments, the program instructions are configured to send afirst wireless communication to a remote computing device 12 associatedwith the first rider in response to detecting the item. The firstwireless communication can comprise an image of the item. The programinstructions can be configured to receive a second wirelesscommunication from the remote computing device 12 in response to sendingthe first wireless communication. The second wireless communication cancomprise an instruction (e.g., from the first rider) to return the item.The program instructions can be configured to drive, by the vehiclemanagement system, the vehicle 2 to the first location 8 in response tothe instruction.

One barrier to owners of self-driving vehicles being willing to allowother people to ride in their vehicles (e.g., when the owner is notpresent) is that owners are concerned riders will smoke in theirvehicles. Smoking can leave a lasting smell that is bothersome tovehicle owners and bothersome to subsequent riders.

When a self-driving vehicle gives rides to riders, there may be timeswhen an owner, manager, or driver is not in the vehicle. As a result,the rider might feel free to smoke in the vehicle. Smoking in thevehicle, however, could substantially damage the value of the vehicleand undermine the experience of future riders. Thus, there is a need forsystems and methods are detect smoke inside self-driving vehicles.

Many types of smoke detection systems can be used inside vehicles. Someembodiments use optical smoke detectors, ionization smoke detectors, andcamera-based smoke detectors (that use machine vision, imagerecognition, and/or artificial intelligence to recognize smoke). Smokedetectors can be coupled to a ceiling inside the vehicle (because smokecan float upward) and can be coupled to any location inside the vehicle.In some embodiments, smoke detectors are integrated into a camera systemand/or into the dash of the vehicle.

There are many types of optical smoke detectors. In some types, aninfrared light beam from a light-emitting diode (“LED”) is projectedinto a chamber. Holes in an outer covering of the smoke detector canallow smoke to move into the chamber. The chamber can include anelectronic light detector (e.g., a photocell) that generates electricityin response to light hitting the electronic light detector. The LED canbe oriented in such a way that it is not pointed at the light detector.When smoke enters the chamber, however, the smoke can cause the lightbeam from the LED to be scattered. Some of the scattered light can hitthe light detector. An electronic circuit can monitor the light detectorand can determine whether infrared light is hitting the detector. Thesmoke detector can interpret infrared light hitting the detector as anindication of smoke. The smoke detector can be configured to emit anaudio alarm and/or send a wireless communication in response to infraredlight hitting the detector.

Some embodiments use photoelectric smoke detectors. Photoelectric smokedetectors can be well suited to detecting certain types of smoke.

Some smoke detection system embodiments comprise ionization smokedetectors. There are many types of ionization smoke detectors. In someembodiments, ionization smoke detectors have a chamber. Holes in anouter housing of the smoke detector can allow smoke to enter thechamber. The chamber can be filled with ions. The ions can come from achemical element called americium.

Americium can release tiny radioactive particles (called alphaparticles), which leak into the detection chamber. As the radioactiveparticles from the americium enter the chamber, the radioactiveparticles can collide with air molecules and turn them into positivelycharged ions and negatively charged electrons. The ions and electronscan move in opposite directions between two electrodes. As long as theions and electrons are moving, a current flows between the electrodes,which a circuit in the smoke detector can interpret as being anindication that smoke is not present in the vehicle.

If smoke is present, however, smoke particles get into the detector andstart to clog up the ionization chamber. The smoke particles attachthemselves to the ions and effectively shut off the electric current.The circuit in the detector can detect that change and can interpret thelack of the electrical current as an indication that smoke is present inthe vehicle.

When smoke is no longer present in the chamber, the current between theelectrodes can resume, which the smoke detector can determine is anindication of the smoke no longer being present in the vehicle.

Some embodiments have a smoke detection system that uses a camera systemto “see” the smoke (and thereby detect the smoke). The camera system cansee the smoke by recognizing the distinct shape of smoke moving throughthe air. For example, a cloud of smoke inside a vehicle has a particularshape that a camera system can recognize as an indication of smoke beingpresent in the vehicle.

The cloud of smoke created by electronic cigarette use has a differentappearance (e.g., a different shape, different movement patterns, anddifferent optical properties) than the appearance (e.g., shape, movementpatterns, and optical properties) of smoke created by non-electriccigarette smoking. The camera system can thus “see” the differencebetween a cloud of smoke created by electronic cigarette use and thecloud of smoke created by non-electronic cigarette use.

The maintenance system can include at least one processor and a memorycomprising program instructions that when executed by the at least oneprocessor cause the smoke detection system to determine whether thesmoke is from electronic cigarette use or is from non-electroniccigarette use by analyzing the appearance (e.g., shape, movementpatterns, and optical properties) of the smoke.

In some embodiments, the smoke detection system comprises a camerasystem and an image analysis system configured to detect the smokeinside the vehicle by comparing a first baseline image taken by thecamera system of an interior of the vehicle to a second image taken bythe camera system (of the interior of the vehicle) after the firstbaseline image.

The image analysis system can include at least one processor and amemory comprising program instructions that when executed by the atleast one processor cause the image analysis system to compare a firstbaseline image taken by the camera system of the interior of the vehicleto a second image taken by the camera system after the first baselineimage to detect the smoke. The smoke can appear in the second image(e.g., taken by the camera while the rider is smoking) but not appear inthe first image (e.g., taken by the camera before the rider startedsmoking). A visible difference between the two images can be a cloud ofsmoke.

Many different types of smoke detectors can analyze a size of a particleof the smoke. A small particle of smoke can be indicative of the smokebeing from non-electronic cigarette use. A large particle of smoke canbe indicative of the smoke being from electronic cigarette use.

As used herein, “smoke” is used broadly to include smoke generated byburning cigarettes and to include aerosol (sometimes called “vapor”)created by electronic cigarette use (sometimes called “vaping”).

As used herein, “cigarettes” are used to burn materials such that theuser can inhale the smoke. Cigarettes can burn many substancesincluding, but not limited to tobacco, marijuana, other psychoactivematerials, and other materials that people burn to inhale. As usedherein, “cigarette” is used broadly and can include a roll of materialenclosed in paper and meant to be smoked, but also includes many othersmoking devices such as cigars, pipes, bongs, and bubblers.

As used herein, “electronic cigarettes” are used to heat a liquid orother substance to generate an aerosol (which is sometimes called a“vapor”). Some liquids include nicotine, propylene glycol, glycerin,flavorings, and drugs. As used herein, “electronic cigarette” is usedbroadly and includes all the diverse shapes and types of electroniccigarettes. Some electronic cigarettes include a mouthpiece, a cartridge(tank), a heating element (atomizer), a microprocessor, and a battery.As used herein, “electronic cigarettes” include vaping devices of allshapes, styles, and sizes and is not limited to vaping devices that havea slim, cylindrical appearance.

Nittan Europe Limited is registered in England and makes a dual opticalsmoke detector called the EV-DP. Using the scattered light principleinherent in optical detectors, the dual optical smoke detector uses bothinfrared LEDs and blue LEDs to provide an accurate measurement ofparticles within the chamber of the smoke detector. By calculating theratio of these light sources, which operate at different wavelengths,the dual optical smoke detector can determine the particle size and thusdistinguish between smoke due to combustion (of cigarettes) and smokedue to aerosol generated by non-combustion products (e.g., vapingdevices).

The entire contents of the following patent are incorporated byreference herein: U.S. Pat. No. 6,011,478; issued Jan. 4, 2000; andentitled Smoke Sensor and Monitor control System.

U.S. Pat. No. 6,011,478 describes smoke detection systems that analyzethe sizes of particles of smoke. The components described in U.S. Pat.No. 6,011,478 that analyze the sizes of particles of smoke are includedin the camera device 10 described herein.

The smoke detection system can also comprise an optical smoke detector(e.g., the EV-DP) configured to analyzing a particle size of theaerosol. The smoke detection system can detect electronic cigaretteaerosol by analyzing a particle size of the aerosol and determining thatthe particle size is indicative of electronic cigarette use (e.g., theparticle size is larger than is typical for combustion-generated smoke).

The smoke detection system can determine if the particle size is smallerthan a predetermined threshold by directly determining that the particlesize is smaller than the threshold. The smoke detection system can alsodetermine if the particle size is smaller than a predetermined thresholdby determining that the particle size is larger than the threshold(because by knowing that the particle size is larger than the threshold,the system also effectively knows that the particle size is not smallerthan the threshold).

The smoke detection system can determine if the particle size is largerthan a predetermined threshold by directly determining that the particlesize is larger than the threshold. The smoke detection system can alsodetermine if the particle size is larger than a predetermined thresholdby determining that the particle size is smaller than the threshold(because by knowing that the particle size is smaller than thethreshold, the system also effectively knows that the particle size isnot larger than the threshold).

In some embodiments, rather than use the process of elimination, thesmoke detection system actually measures the particles and thendetermines if the size of each particle is smaller or larger than thethreshold. The threshold can be chosen such that being smaller than thethreshold is indicative of the particle being cigarette smoke and beinglarger than the threshold can be indicative of the particle beingelectronic cigarette aerosol. The maintenance system's reaction todetecting cigarette smoke can be different (e.g., more extreme) than themaintenance system's reaction to electronic cigarette aerosol (which istypically less damaging to vehicles).

FIG. 10 illustrates a diagrammatic view of a smoke detection system 74.When the camera device 10 includes at least one smoke detector, thecamera device 10 can be a smoke detection system 74. Many types of smokedetectors can be used including ionization smoke detectors 90, opticalsmoke detectors 91, camera-based smoke detectors (which can include animage analysis system 70 and cameras 24 a, 24 b, 24 c), and any othertype of smoke detector.

The ionization smoke detector 90, the optical smoke detector 91, and theimage analysis system 70 can be part of the camera device 10 (e.g., suchthat they are located inside the device 10). In some embodiments, theionization smoke detector 90, the optical smoke detector 91, and/or theimage analysis system 70 are located outside of the camera device 10,but are still located inside the vehicle 2.

In some embodiments, the image analysis system 70 is located remotelyrelative to the vehicle 2 such that a camera 24 a takes images (whichcan be videos or still images) of the inside of the vehicle 2 and acommunication system 71 sends the images to the image analysis system 70(which can include a server located far from the vehicle 2). Thecommunication system 71 can send the images to the image analysis system70 via intermediary communication systems 5. The image analysis system70 can analyze the images to determine if the images show smoke.

The smoke detection system 74 can be coupled to the vehicle 2 (e.g., toa ceiling of the vehicle 2). The smoke detection system 74 can detectsmoke inside the vehicle 2. FIG. 10 illustrates two clouds of smoke 88,89. A first cloud of smoke 88 includes small particles (which areillustrated as small circles). A second cloud of smoke 89 includes largeparticles (which are illustrated as large circles). The smoke detectionsystem 74 can analyze the size of the particles in many different ways.

The smoke detection system 74 can use both infrared LEDs and blue LEDsto provide an accurate measurement of particles within the chamber ofthe smoke detector. By calculating the ratio of these light sources,which operate at different wavelengths, the smoke detection system 74can determine the particle size and thus distinguish between smoke dueto combustion (of cigarettes) and smoke due to aerosol generated bynon-combustion products (e.g., vaping devices).

The entire contents of the following patent are incorporated byreference herein: U.S. Pat. No. 6,011,478; issued Jan. 4, 2000; andentitled Smoke Sensor and Monitor Control System. The smoke detectionsystem 74 can use any of the embodiments described in U.S. Pat. No.6,011,478 to analyze the size of the particles in smoke to determine ifthe particles are larger or smaller than a predetermined threshold. Thethreshold can be chosen such that detecting particles larger than thethreshold is indicative of the smoke being from non-combustion (e.g.,electronic cigarette aerosol) and detecting particles smaller than thethreshold is indicative of the smoke being from combustion (e.g.,cigarette smoking).

Detecting particles smaller than the threshold (e.g., as indicated bythe first cloud of smoke 88) can cause the system to label the event asa combustion (e.g., cigarette smoking) event. The system can send awireless communication 98 (which may be via intermediary communicationsystems 5) to a remote computing device 12 c of a manager of the vehicle2. The manager can be an entity responsible for the maintenance of thevehicle 2. The manager can be an owner of the vehicle 2.

FIG. 10 illustrates the remote computing device 12 c as a desktopcomputer, but the remote computing device 12 c can be a server, theCloud, any type of remote computing device described herein orincorporated by reference, or any other suitable computer.

The first wireless communication 98 (which can comprise many wirelesscommunication sessions) can be configured to enable the remote computingdevice 12 c to show an image 94 of the rider 1 who was smoking in thevehicle 2. The image 94 can show the rider 1 in the act of smoking inthe vehicle 2 (e.g., to serve as proof that the rider 1 was smoking inthe vehicle 2).

The wireless communication 98 (which can comprise many wirelesscommunication sessions) can comprise data regarding the smoking event.The data can include the name of the rider 1, an account number of therider 1, a ride number, and/or any other data that serves to identifythe rider 1. The wireless communication 98 can also comprise dataregarding whether the smoke detected by the smoke detection system 74was due to non-combustion (e.g., electronic cigarette aerosol) orcombustion (e.g., cigarette smoking). The fine due to detectingcombustion can be higher than the fine due to non-combustion due to thegreater harm caused by combustion smoke (rather than non-combustionsmoke) inside the vehicle 2. The system's reaction to combustion smokecan be more extreme than the system's reaction to non-combustion smoke.

The remote computing device 12 c can be configured to show data 96regarding the rider 1 and the smoking event of the rider 1.

Detecting particles larger than the threshold (e.g., as indicated by thesecond cloud of smoke 89) can cause the system to label the event as anon-combustion (e.g., vaping) event. The system can send a secondwireless communication 99 (which may be via intermediary communicationsystems 5) to a remote computing device 12 c of a manager of the vehicle2. The remote computing device 12 c shown in the lower right of FIG. 10illustrates information displayed by the remote computing device 12 c inresponse to the second wireless communication 99 regarding thenon-combustion smoking event.

The second wireless communication 99 (which can comprise many wirelesscommunication sessions) can be configured to enable the remote computingdevice 12 c to show an image 95 of the rider 1 b who was smoking in thevehicle 2. The image 95 can show the rider 1 b in the act of smoking inthe vehicle 2 (e.g., to serve as proof that the rider 1 b was smoking inthe vehicle 2).

The second wireless communication 99 (which can comprise many wirelesscommunication sessions) can comprise data regarding the smoking event.The data can include the name of the rider 1 b, an account number of therider 1 b, a ride number, and/or any other data that serves to identifythe rider 1 b.

The second wireless communication 99 can also comprise data regardingwhether the smoke detected by the smoke detection system 74 was due tonon-combustion (e.g., electronic cigarette aerosol) or combustion (e.g.,cigarette smoking).

The remote computing device 12 c can be configured to show data 97regarding the rider 1 b and the smoking event of the rider 1 b.

FIG. 11 illustrates a diagrammatic view of a smoke detection system 74.FIG. 11 includes a small circle in the ceiling of the vehicle 2. Thissmall circle illustrates one location (out of many) in which the smokedetection system 74 can be placed inside the vehicle 2. The smokedetection system 74 can be located inside the cabin of the vehicle 2.

A remote computing device 12 c of a manager 3 of the vehicle 2 canreceive wireless communications from the vehicle 2 (in some cases viaintermediary communication system 5) in response to the vehicle 2detecting smoke.

The vehicle 2 can include a window 82 and a motor 81 configured to movethe window 82 (of the vehicle 2) up and down. The motor 81 can beembedded in a door of the vehicle 2.

The vehicle 2 can include a fan 83 configured to circulate air insidethe cabin of the vehicle 2. In some vehicles 2, the fan 83 is embeddedinside a vent inside the dash.

The vehicle 2 can include a temperature management system 85 having athermometer, an air conditioner, a heater, and a ventilation system 84.The temperature management system 85 can be configured to control anambient temperature inside the cabin of the vehicle 2 by heating orcooling air inside the cabin. In some embodiments, the temperaturemanagement system 85 is configured to heat the air inside the cabin toapproximately 74 degrees Fahrenheit (e.g., on cold days) and isconfigured to cool the air inside the cabin to approximately 74 degreesFahrenheit (e.g., on hot days). In other embodiments, however, thetemperature management system 85 is configured to deliberately make theambient temperature inside the cabin uncomfortably hot or cold inresponse to the smoke detection system 74 detecting smoke inside thecabin.

On a hot day (with an outside temperature greater than 74 degreesFahrenheit), the temperature management system 85 can heat the cabin airto a temperature that is greater than 84 degrees Fahrenheit and/orgreater than 90 degrees Fahrenheit.

On a cold day (with an outside temperature less than 74 degreesFahrenheit), the temperature management system 85 can cool the cabin airto a temperature that is less than 64 degrees Fahrenheit, less than 50degrees Fahrenheit, and/or less than 40 degrees Fahrenheit.

The vehicle 2 can include a speaker 86 configured to emit sounds (e.g.,music, audio commands) inside the cabin of the vehicle 2. In somevehicles 2, the speaker 86 is embedded inside the dash of the vehicle 2.In some vehicles 2, the speaker 86 is located along the top, bottom, orside of the cabin of the vehicle 2 and arranged and configured to emitsounds towards the seats. The vehicle 2 can also include a microphone186 configured to record sounds, such as a verbal response, inside thecabin of vehicle 2. In some vehicles 2, the microphone 186 is embeddedinside the dash of the vehicle 2. In some vehicles 2, the microphone 186is located along the top, bottom, or side of the cabin of the vehicle 2and arranged and configured to record sounds from rider(s) in theseat(s).

The vehicle 2 can include a rain sensor 87. The rain sensor 87 can bebased on the principle of total internal reflection. An infrared lightis beamed at a 45-degree angle into the windshield from the interior ofthe vehicle 2 (e.g., just behind the windshield of the vehicle 2). Ifthe windshield glass is wet, less light makes it back to a light sensorthan if the windshield glass is dry. Measuring the light that makes itback to the light sensor provides an indication of whether it is raining(because the windshield is wet when it is raining).

The following U.S. patents, the entire contents of which areincorporated herein by reference, describe additional types of rainsensors 87 that can be used with the embodiments described herein: U.S.Pat. Nos. 4,578,995; 4,584,508; 4,987,296; 6,392,218; and 6,341,523.Some embodiments use other types of rain sensors.

Some rain sensor embodiments use a camera (e.g., looking out of a windowof the vehicle) to “see” if it is raining outside the vehicle. Forexample, in 2017 Tesla introduced an update that enabled their cars toutilize onboard cameras to passively detect rain without the use of adedicated sensor.

Some embodiments comprise a maintenance system configured to be usedwith a self-driving vehicle 2. The maintenance system can use a smokedetector to detect smoke inside the vehicle 2 and then can take actionsin response to detecting the smoke.

A maintenance system can comprise a smoke detection system 74 configuredto detect smoke inside a cabin of the vehicle 2; a communication system71 configured to send a first wireless communication to a remotecomputing device 12 c associated with a manager of the vehicle 2 inresponse to the smoke detection system 74 detecting the smoke; and/or avehicle management system 65 configured to autonomously drive thevehicle 2.

The vehicle management system 65 can be mechanically coupled to thevehicle 2. In some embodiments, the vehicle management system 65 islocated remotely relative to the vehicle 2. In some embodiments, aportion of the vehicle management system 65 is mechanically coupled tothe vehicle 2 and another portion of the vehicle management system 65 isnot mechanically coupled to the vehicle 2 but is communicatively coupledto the vehicle 2.

A vehicle management system 65 can be configured to autonomously drivethe vehicle 2 even if a rider provides some input such as a destinationand even if the rider is told to intervene to drive the vehicle 2 incertain circumstances.

In some embodiments, the smoke detection system 74 comprises a camerasystem and an image analysis system 70 configured to detect the smokeinside the vehicle 2 by comparing a first baseline image taken by thecamera system of an interior of the vehicle 2 to a second image taken bythe camera system (of the interior of the vehicle 2) after the firstbaseline image.

In some embodiments, a maintenance system comprises a memory 75 havingan identification of a first rider of the vehicle 2. The communicationsystem 71 can comprise an antenna 19, a transmitter 72, and/or areceiver 73. The communication system 71 can be configured to send theidentification of the first rider to the remote computing device 12 c ofthe manager in response to the smoke detection system 74 detecting thesmoke inside the vehicle 2.

Many different types of identifying information can be used asidentification of the rider. In some embodiments, the identification isa name of the rider, a picture of the rider, a number or code thatrepresents the rider's account, a credit card number, a social securitynumber, a driver's license number, a number or code that represents theride that the rider took, and/or any information configured to helpidentify the rider.

In some embodiments, a maintenance system comprises a camera systemcoupled to an interior of the vehicle 2. The camera system can beconfigured to take a picture of a first rider smoking. The communicationsystem 71 can be configured to send the picture of the first ridersmoking to the remote computing device 12 c.

In some embodiments, the camera system comprises a first camera directedtowards a first row of the vehicle 2. The first camera can be configuredto take the picture in response to the smoke detection system 74detecting the smoke inside the vehicle 2.

In some embodiments, the smoke detection system 74 comprises anionization smoke detector 90 configured to detect cigarette smoking. Thesmoke detection system 74 can also comprise an optical smoke detector 91configured to detect electronic cigarette aerosol by analyzing aparticle size of the aerosol and determining that the particle size isindicative of electronic cigarette use.

As used herein, smoke can include aerosol generated by “vaping” and alsosmoke generated by burning cigarettes.

Electronic cigarettes can include all types of devices used to heat aliquid to generate an aerosol, commonly called a “vapor,” that the userinhales.

Cigarettes can be used to burn many psychoactive materials includingtobacco and marijuana.

In some embodiments, the smoke detection system 74 comprises at leastone optical smoke detector 90 configured to analyze a particle size ofthe smoke. The communication system 71 is configured to send the firstwireless communication identifying the smoke as an aerosol in responseto the smoke detection system 74 determining that the particle size isgreater than a predetermined threshold. The communication system 71 canbe configured to send the first wireless communication identifying thesmoke as cigarette smoking in response to the smoke detection system 74determining that the particle size is less than the predeterminedthreshold.

The first wireless communication can comprise multiple wirelesscommunications and is not limited to a single communication instance.The first wireless communication can comprise many wirelesscommunication sessions.

In some embodiments, a camera system is coupled to an interior of thevehicle 2. The camera system can be configured to take a picture of afirst rider smoking. The communication system 71 can be configured tosend the picture of the first rider smoking to the remote computingdevice 12 c. The first wireless communication 98 can be configured toenable the remote computing device 12 c to display the picture of thefirst rider smoking and to display an indication 96 of whether the smokeis due to the aerosol or the cigarette smoking.

The vehicle management system 65 can automatically take many actions inresponse to the smoke detector detecting smoke.

In some embodiments, the vehicle management system 65 comprises a motor81 configured to open a window 82 of the vehicle 2. The vehiclemanagement system 65 can be configured to use the motor 81 toautomatically roll down the window 82 in response to the smoke detectionsystem 74 detecting the smoke inside the vehicle 2.

In some embodiments, the vehicle management system 65 comprises aventilation system 84 having a fan 83 to push air in the cabin. The fan83 can be located inside the dash of the vehicle 2 such that the fan 83pushes air in the cabin by pushing air through a vent and into thecabin. The vehicle management system 65 can be configured toautomatically increase a rate at which the ventilation system 84 pushesoutside air into the cabin of the vehicle 2 in response to the smokedetection system 74 detecting the smoke inside the vehicle 2. In severalembodiments, the rate is increased by increasing a rotational speed ofthe fan 83.

In some embodiments, the vehicle management system 65 comprises aventilation system 84, and the vehicle management system 65 isconfigured to use the ventilation system 84 to automatically injectoutside air into the cabin of the vehicle 2 in response to the smokedetection system 74 detecting the smoke inside the vehicle 2.

In some embodiments, the vehicle management system 65 comprises atemperature management system 85 having a thermometer and having atleast one of an air conditioner, a heater, and a ventilation system 84having a fan 83 to circulate air in the cabin. The fan 83 can be locatedinside a vent inside the dash of the vehicle 2 such that the fan 83 isconfigured to circulate air in the cabin by pushing air out from a vent.The vehicle management system 65 can be configured to at least one ofincrease and decrease an ambient temperature inside the cabin by atleast ten degrees Fahrenheit in response to the smoke detection system74 detecting the smoke inside the vehicle 2 to decrease a comfort levelof a first rider.

In some embodiments, the vehicle management system 65 is configured todecrease an ambient temperature inside the cabin by at least ten degreesFahrenheit and/or by at least twenty degrees Fahrenheit in response tothe smoke detection system 74 detecting the smoke inside the vehicle 2to decrease a comfort level of a first rider. The vehicle managementsystem 65 can be configured to increase an ambient temperature insidethe cabin by at least ten degrees Fahrenheit and/or by at least twentydegrees Fahrenheit in response to the smoke detection system 74detecting the smoke inside the vehicle 2 to decrease a comfort level ofa first rider.

In some embodiments, a maintenance system is configured to be used witha self-driving vehicle 2. A maintenance system can comprise a smokedetection system 74 coupled to the vehicle 2 and configured to detectsmoke inside a cabin of the vehicle 2. The smoke detection system 74 canbe coupled to the vehicle 2 by being placed inside the vehicle 2, beingattached to a roof of an interior of the vehicle 2, and/or coupled tothe vehicle 2 in any suitable way configured to enable the smokedetection system 74 to detect smoke inside the vehicle 2. A maintenancesystem can comprise a vehicle management system configured toautonomously drive the vehicle 2.

In some embodiments, a vehicle management system is configured torespond in response to the smoke detection system 74 detecting the smokeinside the vehicle 2. Embodiments described herein include manydifferent ways in which the vehicle management system can respond to thesmoke detection system 74 detecting smoke inside the vehicle 2.Responses can protect the safety of riders inside the vehicle 2 and/orcan reduce smoke damage to the vehicle 2.

In some embodiments, a maintenance system comprises a communicationsystem 71 configured to send a first wireless communication to a remotecomputing device in response to the smoke detection system 74 detectingthe smoke inside the vehicle 2. The remote computing device can beassociated with a manager of the vehicle 2 such that the first wirelesscommunication is configured to notify the manager regarding the smokeinside the vehicle 2.

In some embodiments, the vehicle management system comprises atemperature management system 85. The temperature management system 85can comprise a thermometer, an air conditioner, a heater, and aventilation system 84. The ventilation system 84 can comprise a fan 83configured to circulate air in the cabin of the vehicle 2. The vehiclemanagement system can be configured to increase and/or decrease anambient temperature inside the cabin by at least ten degrees Fahrenheitin response to the smoke detection system 74 detecting the smoke insidethe vehicle 2. In response to the smoke detection system 74 detectingthe smoke inside the vehicle 2, the vehicle management system canincrease and/or decrease the ambient temperature to decrease a comfortlevel of a first rider. Making the rider hot or cold can decrease thecomfort level of the first rider, which can discourage the rider fromcontinuing to smoke in the vehicle 2.

In some embodiments, the maintenance system comprises at least oneprocessor 77 and at least one memory 75 having program instructions 76configured to be executed by the at least one processor 77. The programinstructions 76 can be configured to cause the vehicle management systemto at least one of increase and decrease the ambient temperature by atleast ten degrees Fahrenheit and by less than thirty degrees Fahrenheit.In response to the smoke detection system 74 detecting smoke inside thevehicle 2, the program instructions 76 can cause the vehicle managementsystem to increase and/or decrease the ambient temperature (e.g., by atleast ten degrees Fahrenheit and/or by less than thirty degreesFahrenheit) to decrease the comfort level of a rider inside the vehicle2.

In some embodiments, the vehicle management system comprises a speaker86 and/or a display screen 93. At least one of the speaker 86 and thedisplay screen 93 can be configured to provide at least one of audioinstructions and visual instructions to the first rider. At least one ofthe audio instructions and the visual instructions can be configured toinstruct the first rider to cease smoking in order to enable changingthe ambient temperature to increase the comfort level. For example, theinstructions can tell the rider that the cabin of the vehicle willremain uncomfortably hot or uncomfortably cold until the rider stopssmoking in the vehicle 2.

In some embodiments, the smoke detection system 74 is configured toanalyze a particle size of the smoke to determine if the particle sizeis smaller than a predetermined threshold. The vehicle management systemcan be configured to increase and/or decrease the ambient temperatureinside the cabin (to decrease the comfort level of the first rider) inresponse to the maintenance system detecting the smoke inside thevehicle 2 and determining that the particle size is smaller than thepredetermined threshold.

In some embodiments, the vehicle management system is configured toautomatically at least partially restore (increase) the comfort level inresponse to the smoke detection system 74 no longer detecting the smokeinside the vehicle 2, detecting that a concentration of the smoke isless than a predetermined threshold, detecting that a concentration ofthe smoke is decreasing, and/or detecting that a concentration of thesmoke has decreased by at least a predetermined amount and/or ratio.

For example, if the program instructions caused the cabin temperature tofall from 73 degrees Fahrenheit to 50 degrees Fahrenheit (in response todetecting smoke in the cabin), then the program instructions can causethe cabin temperature to increase to 70 degrees Fahrenheit (to at leastpartially restore the comfort level) in response to the smoke detectionsystem 74 no longer detecting the smoke inside the vehicle 2. If theprogram instructions caused the cabin temperature to rise from 73degrees Fahrenheit to 90 degrees Fahrenheit (in response to detectingsmoke in the cabin), then the program instructions can cause the cabintemperature to decrease to 73 degrees Fahrenheit (to restore the comfortlevel) in response to the smoke detection system 74 no longer detectingthe smoke inside the vehicle 2.

In some embodiments, the vehicle management system 65 is configured todetermine a local speed limit and is configured to automatically reducea speed of the vehicle 2 below the local speed limit in response to thesmoke detection system 74 detecting the smoke inside the vehicle 2.

In some embodiments, the vehicle management system 65 determines thelocal speed limit by receiving the local speed limit from a remotesystem (e.g., via a wireless communication to the vehicle managementsystem 65).

In some embodiments, the vehicle management system 65 comprises dataregarding speed limits of each area (e.g., street section) of a map. Thevehicle management system 65 can determine the local speed limit bydetermining a location of the vehicle 2 and then using that location todetermine which speed limit applies to the area of the location.

Some embodiments include reducing the speed so much that the vehicle 2stops (e.g., such that the vehicle 2 is parked). The vehicle managementsystem 65 can be configured to determine a suitable parking location inresponse to the smoke detection system 74 detecting the smoke inside thevehicle 2, and the vehicle management system 65 can be configured topark the vehicle 2 in the parking location in response to the smokedetection system 74 detecting the smoke inside the vehicle 2.

In some embodiments, the vehicle management system 65 comprises aspeaker 86. The speaker 86 can be configured to emit audio commandsinstructing a first rider of the vehicle 2 to cease smoking in order tocause the vehicle management system 65 to increase the speed and/orstart moving again after being stopped in a parking location. The audiocommands can be words such as, “John, the car has stopped because it hasdetected that you are smoking. The car will not start moving again untilyou stop smoking. You have been fined $50 and will be fined an evenlarger amount if you do not stop smoking within 60 seconds.”

Getting the rider to stop smoking right away is advantageous becauseadditional time smoking will result in additional damage to the vehicle2. A vehicle 2 that has been smoked in for 10 seconds typically will notsmell as bad as a vehicle 2 that has been smoked in for 10 minutes.

Some embodiments comprise a first financial penalty for smoking andadditional financial penalties for continuing to smoke inside thevehicle. The vehicle 2 can be configured to provide a ride to a firstrider. The vehicle management system 65 can be configured to fine anaccount 80 of the first rider a first amount in response to the smokedetection system detecting the smoke inside the vehicle 2. The vehiclemanagement system 65 can be configured to notify the first rider thatthe account 80 will be fined a second amount if the smoke detectionsystem detects the smoke at a later time during the ride. The vehiclemanagement system 65 can be configured to fine the account 80 the secondamount in response to the smoke detection system detecting the smoke atthe later time during the ride. The second amount can be greater thanthe first amount. The second amount can be at least forty percentgreater than the first amount such that the large second amount is astrong deterrent to the rider deciding to continue smoking in thevehicle 2.

In some embodiments, the vehicle management system 65 can be configuredto fine an account 79 of a second rider a certain amount of money (e.g.,a financial fine) in response to the smoke detection system 74 detectingthe smoke inside the vehicle 2.

In some embodiments, the vehicle 2 is configured to drive a first riderto a destination selected by the first rider. The vehicle managementsystem 65 can be configured to cease driving towards the destination inresponse to the smoke detection system 74 detecting the smoke inside thevehicle 2. The vehicle 2 can pull over to the side of the road. Thevehicle 2 can determine a suitable parking location and then can ceasedriving towards the destination by going to the parking location. Thevehicle 2 can cease driving towards the destination by driving away fromthe destination. The vehicle management system 65 can be configured tocontinue driving towards the destination once the smoke detection system74 no longer detects the smoke inside the vehicle 2.

In some embodiments, the vehicle management system 65 is configured tofine an account 80 of a first rider of the vehicle 2 in response to thesmoke detection system 74 detecting the smoke inside the vehicle 2. Thesmoke detection system 74 can be configured to analyze a particle sizeof the smoke to determine if the particle size is larger than apredetermined threshold. The vehicle management system 65 can beconfigured to fine the account 80 a first amount if the particle size islarger than the predetermined threshold. The vehicle management system65 can be configured to fine the account 80 a second amount if theparticle size is smaller than the predetermined threshold. The secondamount can be larger than the first amount and/or at least 20 percentlarger than the first amount.

In some embodiments, the vehicle management system 65 comprises alighting system 100 having at least one light coupled to an interior ofthe vehicle 2. The lighting system 100 can be configured to illuminateat least one of a seat of the vehicle 2 and a majority of the cabin. Thevehicle management system 65 can be configured to use the lightingsystem 100 to illuminate at least one of the seat and the majority ofthe cabin in response to the smoke detection system 74 detecting thesmoke inside the vehicle 2.

The light can be a spotlight to illuminate a seat in which the riderthat is smoking is sitting. The light can be an LED. The light can bemultiple LEDs.

In some embodiments, the vehicle management system 65 comprises aspeaker 86. The speaker 86 can be configured to emit audio commandsinstructing a first rider of the vehicle 2 to cease smoking. The vehiclemanagement system 65 can be configured to cease illuminating themajority of the cabin and/or cease illuminating the seat in response tothe smoke detection system 74 no longer detecting the smoke inside thevehicle 2.

In some embodiments, the vehicle management system comprises a lightingsystem 100 configured to illuminate at least a portion of an interior ofthe vehicle 2. The lighting system 100 can comprise at least one lightcoupled to an interior of the vehicle 2. The lighting system 100 can beconfigured to illuminate at least one of a seat of the vehicle 2 and amajority of the cabin (of the vehicle 2). The vehicle management systemcan be configured to use the lighting system 100 to illuminate at leastone of the seat and the majority of the cabin in response to the smokedetection system 74 detecting the smoke inside the vehicle 2.

In some embodiments, the maintenance system comprises at least oneprocessor 77 and at least one memory 75 having program instructions 76that when executed by the at least one processor 77 are configured tocause the vehicle management system to illuminate at least one of theseat and the majority of the cabin in response to the smoke detectionsystem 74 detecting the smoke inside the vehicle 2.

In some embodiments, the vehicle management system is configured tocease illuminating at least one of the seat and the majority of thecabin in response to the smoke detection system 74 in response to thesmoke detection system 74 no longer detecting smoke inside the vehicle2, detecting that a concentration of the smoke is less than apredetermined threshold, detecting that a concentration of the smoke isdecreasing, and/or detecting that a concentration of the smoke hasdecreased by at least a predetermined amount and/or ratio.

In some embodiments, the smoke detection system 74 is configured toanalyze a particle size of the smoke to determine if the particle sizeis smaller than a predetermined threshold. The vehicle management systemcan be configured to illuminate at least one of the seat of the vehicle2 and the majority of the cabin in response to the maintenance systemdetecting the smoke inside the vehicle 2 and determining that theparticle size is smaller than the predetermined threshold.

In some embodiments, the vehicle management system comprises at leastone of a speaker 86 and a display screen 93. At least one of the speaker86 and the display screen 93 can be configured to provide at least oneof audio instructions and visual instructions to a first rider insidethe vehicle 2. At least one of the audio instructions and the visualinstructions can be configured to instruct the first rider to ceasesmoking while at least one of the seat and the majority are illuminatedby the lighting system 100.

The vehicle management system 65 can cause the vehicle 2 to go to aservice area 8 to clean the vehicle 2. Cleaning the vehicle 2 can helpremove the smoke smell.

In some embodiments, the vehicle management system 65 is configured toreceive a first location of a service area 8 configured to clean thevehicle 2. The vehicle management system 65 can be configured to drivethe vehicle 2 to the service area 8 in response to the smoke detectionsystem 74 detecting the smoke inside the vehicle 2.

In some embodiments, the smoke detection system 74 is configured todetect the smoke emitted by a first rider while the vehicle 2 is drivingto a drop off location of the first rider. The vehicle management system65 can comprise a first mode and a second mode. In the first mode, thevehicle management system 65 is configured to make the vehicle 2available to accept a pick-up request of a second rider. In the secondmode, the vehicle management system 65 is configured to make the vehicle2 unavailable to accept the pick-up request. The vehicle managementsystem 65 can be configured to enter the second mode in response to thesmoke detection system 74 detecting the smoke inside the vehicle 2. Thevehicle management system 65 can be configured to exit the second modeand enter the first mode in response to at least one of receiving anindication that the vehicle 2 has been cleaned and the vehicle 2 leavinga vehicle cleaning station.

In some embodiments, the vehicle management system 65 comprises aventilation system 84 having a fan 83 to push air in the cabin. The fan83 can be embedded in a vent channel of the dash or can be located inany other suitable location. The smoke detection system 74 can beconfigured to analyze a particle size of the smoke to determine if theparticle size is smaller than a predetermined threshold. The vehiclemanagement system 65 can be configured to automatically increase a rateat which the ventilation system 84 pushes outside air into the cabin inresponse to the smoke detection system 74 detecting the smoke inside thevehicle 2. The vehicle management system 65 can be configured to drivethe vehicle 2 to a service area 8 configured to clean the vehicle 2 inresponse to determining that the particle size is smaller than thepredetermined threshold.

In some embodiments, the vehicle management system 65 comprises a motor81 configured to roll down a window 82 of the vehicle 2. The smokedetection system 74 is configured to analyze a particle size of thesmoke to determine if the particle size is smaller than a predeterminedthreshold. The vehicle management system 65 can be configured to use themotor 81 to automatically roll down the window 82 in response to thesmoke detection system 74 detecting the smoke inside the vehicle 2. Thevehicle management system 65 can be configured to drive the vehicle 2 toa service area 8 configured to clean the vehicle 2 in response todetermining that the particle size is smaller than the predeterminedthreshold.

In some embodiments, the vehicle management system 65 comprises at leastone of a motor 81 configured to roll down a window 82 of the vehicle 2and a ventilation system 84 having a fan 83 to push air in the cabin.The smoke detection system 74 can be configured to detect the smokeemitted by a first rider while the vehicle 2 is driving to a drop offlocation of the first rider. The smoke detection system 74 can beconfigured to analyze a particle size of the smoke to determine if theparticle size is smaller than a predetermined threshold.

In some embodiments, in response to the smoke detection system 74detecting the smoke inside the vehicle 2, the vehicle management system65 is configured to at least one of use the motor 81 to automaticallyroll down the window 82 and increase a rate at which the ventilationsystem 84 pushes the air into the cabin.

In some embodiments, in response to determining that the particle sizeis larger than the predetermined threshold and after at least one ofrolling down the window 82 and increasing the rate (at which theventilation system 84 pushes the air into the cabin), the vehiclemanagement system 65 is configured to make the vehicle 2 available topick up a second rider.

In some embodiments, in response to determining that the particle sizeis smaller than the predetermined threshold, the vehicle managementsystem 65 is configured to make the vehicle 2 unavailable to pick up thesecond rider until after the vehicle management system 65 has driven thevehicle 2 to a service area 8 configured to clean the vehicle 2.

In some embodiments, the vehicle management system 65 comprises a motor81 configured to roll down a window 82 of the vehicle 2 and a rainsensor 87 configured to detect an indication of rain on the vehicle 2.The smoke detection system 74 can be configured to analyze a particlesize of the smoke to determine if the particle size is smaller than apredetermined threshold. The vehicle management system 65 can beconfigured to use the motor 81 to automatically roll down the window 82in response to the smoke detection system 74 detecting the smoke insidethe vehicle 2 and/or in response to the rain sensor 87 not detecting theindication of the rain. The vehicle management system 65 can beconfigured to drive the vehicle 2 to a service area 8 configured toclean the vehicle 2 in response to determining that the particle size issmaller than the predetermined threshold.

In some embodiments, the vehicle management system 65 comprises a motor81 configured to roll down a window 82 of the vehicle 2 and a rainsensor 87 configured to detect an indication of rain on the vehicle 2.The vehicle management system 65 can be configured to use the motor 81to automatically roll down the window 82 in response to the smokedetection system 74 detecting the smoke inside the vehicle 2 and inresponse to the rain sensor 87 not detecting the indication of the rain.

A seat belt (also known as a seatbelt or safety belt) is a vehiclesafety device designed to secure an occupant of a vehicle againstharmful movement that may result during a collision or a sudden stop.

Seat belts can dramatically reduce the risk of injury during a crash.Seat belts save many lives every year. In some embodiments, the vehiclemanagement system is configured to take certain actions to encourage afirst rider to wear a seat belt.

The vehicle can comprise a sensor configured to detect if the rider is“wearing” a seat belt (i.e., if the seat belt is secured around thefirst rider by a strap and/or a buckle). In some embodiments, the sensoris located in the buckle and includes a contact sensor configured suchthat the sensor detects if the seat belt is buckled (or if the seat beltis not buckled).

In some embodiments, the vehicle management system is configured toreduce a speed of the vehicle in response to the vehicle managementsystem determining (e.g., based on data from the seat belt sensor) thatthe seat belt is not buckled. Reducing the speed can encourage the riderto buckle her seat belt.

In some embodiments, the vehicle management system is configured tointentionally increase a travel time of the vehicle in response to thevehicle management system determining (e.g., based on data from the seatbelt sensor) that the seat belt is not buckled.

In some embodiments, the vehicle management system is configured toincrease the travel time by changing from a first travel route to adestination (chosen by a first rider) to a second travel route to thedestination. The vehicle management system can be configured to changefrom the first travel route to the second travel route to intentionallyincrease the travel time in response to the vehicle management systemdetermining (e.g., based on data from the seat belt sensor) that theseat belt is not buckled. Increasing the travel time can encourage therider to buckle her seat belt.

In some embodiments, the vehicle is configured to drive a first rider toa destination (that was previously chosen by the first rider). Thevehicle management system can be configured to cease driving toward thedestination in response to the vehicle management system determining(e.g., based on data from the seat belt sensor) that the seat belt isnot buckled.

In some embodiments, the vehicle management system comprises a lightingsystem having at least one light coupled to an interior of the vehicle.The lighting system can be configured to illuminate at least a portionof the interior of the vehicle (e.g., at least one of a seat of thevehicle and a majority of the cabin). The vehicle management system canbe configured to use the lighting system to illuminate at least theportion (e.g., the seat and/or the majority of the cabin) in response tothe vehicle management system determining (e.g., based on data from theseat belt sensor) that the seat belt is not buckled.

In some embodiments, the vehicle management system comprises at leastone of a speaker and a display screen. At least one of the speaker andthe display screen can be configured to provide at least one of audioinstructions and visual instructions to a first rider inside thevehicle. In response to the vehicle management system determining thatthe seat belt is not buckled (e.g., based on data from the seat beltsensor), at least one of the audio instructions and the visualinstructions can be configured to instruct the first rider to buckle herseat belt.

In some embodiments, a maintenance system is configured to be used witha self-driving vehicle 2. A maintenance system can comprise a smokedetection system 74 coupled to the vehicle 2 and configured to detectsmoke inside a cabin of the vehicle 2. A maintenance system can comprisea vehicle management system configured to autonomously drive the vehicle2.

In some embodiments, the vehicle management system is configured tointentionally increase a travel time of the vehicle 2 in response to thesmoke detection system 74 detecting the smoke inside the vehicle 2.Intentionally increasing the travel time can motivate the rider to stopsmoking in the vehicle 2.

In some embodiments, the vehicle management system is configured toincrease the travel time by changing from a first travel route to adestination (e.g., a destination chosen by a first rider) to a secondtravel route to the destination. The vehicle management system can beconfigured to change from the first travel route to the second travelroute to intentionally increase the travel time in response to the smokedetection system 74 detecting the smoke inside the vehicle 2.

The first travel route can be an optimal travel route determined byGoogle Maps. Google Maps can estimate that the second travel route wouldtake longer (to arrive at a drop-off location of the rider) than thefirst travel route. Switching to a travel route that takes longer canencourage the rider to stop smoking (in order to prompt the vehicle 2 tochoose an optimal travel route). In some cases, the second travel routeincludes a stop at a cleaning facility, a police station, and/or afacility that manages the vehicle 2.

In some embodiments, the vehicle management system comprises at leastone of a speaker 86 and a display screen 93. At least one of the speaker86 and the display screen 93 can be configured to provide at least oneof audio instructions and visual instructions to a first rider in thevehicle 2. At least one of the audio instructions and the visualinstructions can be configured to warn the first rider to cease smokingto avoid increasing the travel time.

For example, audio instructions can say, “Stop smoking immediately oryour travel time will be increased.” Visual instructions can include thefollowing words on the display screen 93: “You must stop smoking toavoid delaying your travel.”

In some embodiments, the vehicle management system comprises at leastone of a speaker 86 and a display screen 93. At least one of the speaker86 and the display screen 93 is configured to provide at least one ofaudio instructions and visual instructions to a first rider. At leastone of the audio instructions and the visual instructions can beconfigured to instruct the first rider to cease smoking in order todecrease the travel time.

For example, audio instructions can say, “We have delayed your traveldue to detecting smoke. Stop the smoke immediately to save time.” Visualinstructions can include the following words on the display screen 93:“Due to detecting smoke in the vehicle, your travel route has beenchanged. To save time and get back on an optimal travel route to yourdestination, stop smoking.”

In some embodiments, the maintenance system comprises at least oneprocessor 77 and at least one memory 75 having program instructions 76that when executed by the at least one processor 77 are configured tocause the vehicle management system to increase the travel time of thevehicle 2 in response to the smoke detection system 74 detecting thesmoke inside the vehicle 2.

In some embodiments, the vehicle management system is configured toreduce a speed of the vehicle 2 in response to the smoke detectionsystem 74 detecting the smoke inside the vehicle 2.

In some embodiments, in response to the smoke detection system 74detecting the smoke inside the vehicle 2, the vehicle management systemis configured to automatically reduce the speed while still enabling thevehicle 2 to continue transporting a first rider toward a destinationselected by the first rider.

A longer travel time reduces the convenience of travel for the rider,which can be a means to encourage the first rider not to smoke in thevehicle 2.

In some embodiments, the vehicle management system is configured todetermine a local speed limit. A camera 111 of the vehicle 2 can take apicture of a speed limit sign. Software can be used to “read” the signto determine the local speed limit.

The local speed limit applies to the road on which the vehicle 2 islocated. In some embodiments, the vehicle management system determinesthe local speed limit by sending a GPS location of the vehicle 2 to asystem having a database comprising locations and corresponding speedlimits and then receiving the local speed limit from the system.

The vehicle management system can be configured to intentionally reducethe speed of the vehicle 2 to a velocity below the local speed limit andabove five miles per hour (and/or above ten miles per hour) in responseto the smoke detection system 74 detecting the smoke inside the vehicle2. As a result, the vehicle 2 can continue moving while stillencouraging the rider to stop smoking in the vehicle 2.

In some embodiments, the maintenance system comprises at least oneprocessor 77 and at least one memory 75 having program instructions 76that when executed by the at least one processor 77 are configured tocause the vehicle management system to intentionally reduce the speed ofthe vehicle 2 to a velocity below a local speed limit and above fivemiles per hour (and/or above ten miles per hour) in response to thesmoke detection system 74 detecting the smoke inside the vehicle 2.

In some embodiments, the vehicle management system comprises at leastone of a speaker 86 and a display screen 93. At least one of the speaker86 and the display screen 93 can be configured to provide at least oneof audio instructions and visual instructions to a first rider. At leastone of the audio instructions and the visual instructions can beconfigured to instruct the first rider to cease smoking in order toincrease the speed.

For example, the audio instructions can say, “We cannot increase thespeed until the smoke is gone from inside the vehicle.” The visualinstructions can display the following words on the display screen 93:“We will not increase the speed until the smoke is gone from inside thevehicle.”

In some embodiments, the smoke detection system 74 is configured toanalyze a particle size of the smoke to determine if the particle sizeis smaller than a predetermined threshold. The vehicle management systemcan be configured to reduce the speed in response to the maintenancesystem detecting the smoke inside the vehicle 2 and determining that theparticle size is smaller than the predetermined threshold.

In some embodiments, the maintenance system is configured to detectsmoke from a rider smoking inside the vehicle 2 and/or is configured todetect smoke from a fire inside the vehicle 2. If the smoke is from afire inside the vehicle 2, the maintenance system can take steps toprotect the rider and the vehicle 2. If the smoke is from a smoking acigarette or vaping inside the vehicle 2, the maintenance system cantake steps to protect the vehicle 2 (and in some cases to protect ridersfrom the smoke).

The maintenance system can, in some cases, differentiate between smokefrom fire, smoke from smoking a cigarette, and smoke from vaping basedon the particle size of the smoke, based on the concentration of thesmoke, based on temperature data (e.g., from infrared sensors and/orthermometers configured to detect temperatures inside the cabin of thevehicle 2). A high concentration of smoke can indicate that the smoke ismore likely from a fire than from smoking a cigarette. A larger particlesize can indicate that the smoke is more likely from vaping than from acigarette and/or a fire.

A vehicle 2 can be configured to drive a first rider to a destinationchosen by the first rider. (The destination can be a drop-off location.)The vehicle management system can be configured to cease driving towardthe destination in response to the smoke detection system 74 detectingthe smoke inside the vehicle 2.

In some embodiments, the maintenance system comprises at least oneprocessor 77 and at least one memory 75 having program instructions 76that when executed by the at least one processor 77 are configured (tocause the vehicle management system) to cause the vehicle 2 to ceasedriving toward the destination in response to the smoke detection system74 detecting the smoke inside the vehicle 2.

FIG. 9 illustrates a lock 92 configured to impede the door 62 from beingopened by a rider of the vehicle 2. In some embodiments, the vehiclemanagement system uses the lock 92 to unlock the doors 62 to enable therider to open a door 62 of the vehicle 2.

The vehicle management system can use the lock 92 to unlock the doors 62to enable the rider to open a door 62 of the vehicle 2 in response tothe smoke detection system 74 detecting smoke in the vehicle 2. Thevehicle management system can use the lock 92 to unlock the doors 62 toenable the rider to open a door 62 of the vehicle 2 in response to themaintenance system determining that a concentration of the smoke isgreater than a first predetermined threshold. The vehicle managementsystem can use the lock 92 to unlock the doors 62 to enable the rider toopen a door 62 of the vehicle 2 in response to the maintenance systemdetermining that an average particle size of the smoke is smaller than asecond predetermined threshold.

The vehicle management system can cause the vehicle 2 to pull over andthen automatically unlock the door 62 (e.g., once the vehicle 2 hasstopped moving and/or once the vehicle is moving at less than 5 milesper hour). Program instructions 76 can be configured to cause thevehicle 2 to pull over and then unlock a lock 92 of a door 62 of thevehicle 2.

In some embodiments, in response to the smoke detection system 74detecting smoke in the vehicle 2 (and/or in response to the maintenancesystem determining that a concentration of the smoke is greater than afirst predetermined threshold and/or in response to the maintenancesystem determining that an average particle size of the smoke is smallerthan a second predetermined threshold), the vehicle management systemcan cause the vehicle 2 to pull over and then use a motor 63(illustrated in FIG. 9) to open a door 62 automatically without therider having to open the door 62. Program instructions 76 can beconfigured to cause the vehicle 2 to pull over and then use a motor 63of the lock 92 to open a door 62 of the vehicle 2.

In some embodiments, the maintenance system comprises at least oneprocessor 77 and at least one memory 75 having program instructions 76that when executed by the at least one processor 77 are configured tocause the vehicle management system to unlock doors 62 of the vehicle 2in response to the smoke detection system 74 detecting the smoke insidethe vehicle 2. Unlocking the doors 62 can enable riders to exit thevehicle 2 (e.g., after the vehicle 2 has come to a stop).

The vehicles 2 comprises at least one door 62 and a door lock 92configured to impede opening the door 62. The program instructions 76can be configured to automatically unlock the door lock in response tothe smoke detection system 74 detecting the smoke inside the vehicle 2.

The program instructions 76 can be configured to automatically unlockthe door lock 62 in response to the smoke detection system 74 detectingthe smoke inside the vehicle 2 and also in response to the maintenancesystem detecting that the vehicle 2 is at least one of stopped andmoving at a velocity of less than fifteen miles per hour.

Enabling the rider to open the door 62 while the vehicle 2 is movingquickly can be dangerous. Waiting to unlock the door 62 until thevehicle 2 is either stopped or at least only moving slowly can reducethe risk of the rider exiting the vehicle 2 while the vehicle 2 ismoving quickly.

The program instructions 76 can be configured to automatically unlockthe door lock 92 in response to the smoke detection system 74 detectingthe smoke inside the vehicle 2 and also in response to at least one of(a) the maintenance system determining that a concentration of the smokeis greater than a first predetermined threshold and (b) the maintenancesystem determining that a particle size of the smoke is smaller than asecond predetermined threshold.

Determining, by a portion of the maintenance system, that theconcentration of the smoke is greater than the first predeterminedthreshold can help the maintenance system differentiate betweenemergencies (e.g., with large amounts of smoke in the cabin of thevehicle 2) and non-emergencies (e.g., due to cigarette smoking and/orvaping). Detecting large amounts of smoke can trigger the programinstructions 76 to unlock the doors 62. In some embodiments, detectingsmall amounts of smoke can trigger the program instructions 76 to unlockthe doors 62. In some embodiments, detecting small amounts of smoke doesnot trigger the program instructions 76 to unlock the doors 62.

Determining, by a portion of the maintenance system, that a particlesize of the smoke is smaller than the second predetermined threshold canhelp the maintenance system differentiate between emergencies (e.g.,with smoke due to a fire in the vehicle 2) and non-emergencies (e.g.,with smoke that is not due to a fire in the vehicle). A small particlesize can be indicative of smoke due to a fire in the vehicle 2. A largeparticle size can be indicative of smoke that is not due to a fire inthe vehicle 2. A large particle size can be indicative of vaping in thevehicle 2.

The vehicle 2 can comprise a door 62 and a motor 63 configured to openthe door 62. The program instructions 76 can be configured to cause themotor 63 to open the door 62 in response to the smoke detection system74 detecting the smoke inside the vehicle 2 and the maintenance systemdetecting that the vehicle 2 is at least one of stopped and moving at avelocity of less than ten miles per hour.

The Tesla Model X (made by Tesla, Inc.) includes a motor configured toopen the rear doors. Tesla refers to these doors as “Falcon Wing Doors.”Embodiments can use a Tesla Model X motor and door.

Sienna minivans (made by Toyota) include motors configured to open therear sliding doors. The following patents include door motorinformation. The entire contents of the following patent areincorporated by reference herein: U.S. Pat. No. 6,081,088; issued Jun.27, 2000; and entitled Automatic Opening/Closing Apparatus. The entirecontents of the following patent are incorporated by reference herein:U.S. Pat. No. 5,986,420; issued Nov. 16, 1999; and entitled Apparatusfor Automatically Opening and Closing Pop-Up Door of a Vehicle.

The following patent includes door lock information. The entire contentsof the following patent are incorporated by reference herein: U.S. Pat.No. 5,769,471; issued Jun. 23, 1998; and entitled Apparatus forUnlocking a Door Lock for a Vehicle.

In some embodiments, the smoke detection system 74 is configured toanalyze a particle size of the smoke to determine if the particle sizeis smaller than a predetermined threshold. The vehicle management systemcan be configured to cease driving toward the destination in response tothe maintenance system detecting the smoke inside the vehicle 2 anddetermining that the particle size is smaller than the predeterminedthreshold. The vehicle 2 can stop moving, pull over to a parkinglocation alongside the road, and/or stop at a cleaning facilityconfigured to remove the smoke smell from the vehicle 2.

In some embodiments, the vehicle management system is configured tocease driving (stop moving) in response to the maintenance systemdetecting the smoke inside the vehicle 2 and determining that aconcentration of the smoke exceeds a predetermined threshold. Theconcentration threshold can be configured to be indicative of smoke froma fire rather than smoke from smoking a cigarette or vaping.

If a person is located inside the vehicle 2, then the maintenance systemcan pull over faster than if a person is not located in the vehicle whenthe smoke detection system 74 detects the smoke. Pulling over to theside of the road faster can enable the rider to exit the vehicle 2 morequickly but may increase the risk of hitting other vehicles in theprocess of pulling over. As a result, pulling over slower can beadvantageous (to reduce the risk to other vehicles on the road) if aperson is not present in the vehicle 2.

In some embodiments, the maintenance system comprises at least oneprocessor 77 and at least one memory 75 having program instructions 76that when executed by the at least one processor 77 are configured tocause the vehicle 2 to stop moving via (e.g., by) a first stopping modein response to the smoke detection system 74 detecting the smoke insidethe vehicle 2. The program instructions 76 can be configured to causethe vehicle 2 to stop moving via (e.g., by) a second stopping mode inresponse to the smoke detection system 74 detecting the smoke inside thevehicle 2 and the maintenance system detecting an indication of a personbeing located inside the vehicle 2. The second stopping mode can beconfigured to enable the vehicle 2 to stop more quickly than the firststopping mode.

The vehicle guidance system 117 can enable the vehicle 2 to avoidhitting other objects on the road while the vehicle 2 pulls over to stopon the side of the road.

A seat of the vehicle 2 can comprise a weight sensor 114 (shown in FIG.3) configured to sense the weight of a rider sitting on the seat (toenable the maintenance system to detect the rider). A weight greaterthan a predetermined threshold (e.g., 20 pounds) can be an indication ofa person being located in the vehicle 2.

An infrared sensor 115 (shown in FIG. 3) can be used to detect atemperature indicative of a person sitting in a seat of the vehicle 2(so the maintenance system can determine, based on infrared data) if aperson is located in the vehicle 2.

A camera 24 a, 24 b, 24 c can take a picture inside the cabin of thevehicle 2. Image recognition software can be used to analyze the pictureto enable the maintenance system to determine if a person is locatedinside the vehicle 2.

In some embodiments, the second stopping mode is configured to enablethe vehicle 2 to move at a greater speed than the first stopping mode(e.g., to enable the vehicle 2 to arrive at a stopping location morequickly).

In some embodiments, the vehicle management system is configured todetermine a local speed limit, and the second stopping mode isconfigured to enable the vehicle 2 to exceed the local speed limit by agreater amount than the first stopping mode.

In some embodiments, the second stopping mode is configured to enablethe vehicle 2 to accelerate faster than the first stopping mode.

In some embodiments, the second stopping mode is configured to enablethe vehicle 2 to decelerate faster than the first stopping mode.

In some embodiments, the vehicle 2 is configured to drive on a road. Thevehicle management system can comprise a vehicle guidance system 117having at least one of a camera 111, a radar 118, and a lidar 119.

The vehicle guidance system 117 can be configured to detect objectslocated outside the vehicle 2 on the road. Program instructions 76 canbe configured to enable the vehicle 2 to come closer to the objects inthe second stopping mode than in the first stopping mode.

For example, in the second stopping mode, the program instructions 76can specify a minimum distance to other cars of 10 feet in the secondstopping mode and 20 feet in the first stopping mode. As a result, thesecond stopping mode can enable changing lanes into smaller spacesbetween cars to enable the vehicle 2 to pull over faster than would bethe case in the first stopping mode.

In some embodiments, the vehicle management system comprises a vehicleguidance system 117 having at least one of a camera 111, a radar 118,and a lidar 119. The vehicle guidance system 117 can be configured todetect objects located outside the vehicle 2 on the road. Themaintenance system can comprise at least one processor 77 and at leastone memory 75 having program instructions 76 configured to be executedby the at least one processor 77 and comprising a first mode, a secondmode, and a third mode. In the first mode, the program instructions 76are configured to prompt the vehicle management system to drive thevehicle 2 toward a location (e.g., a destination, a drop-off location, apick-up location).

In some embodiments, the program instructions 76 are configured to exitthe first mode and enter the second mode in response to the smokedetection system 74 detecting the smoke inside the vehicle 2 and inresponse to the maintenance system determining that a person is notlocated inside the vehicle 2. In the second mode, the programinstructions 76 prompt the vehicle guidance system 117 to implement afirst stopping mode.

In some embodiments, the program instructions 76 are configured to exitthe first mode and enter the third mode in response to the smokedetection system 74 detecting the smoke inside the vehicle 2 and themaintenance system determining that the person is located inside thevehicle 2. In the third mode, the program instructions 76 prompt thevehicle guidance system 117 to implement a second stopping modeconfigured to enable the vehicle 2 to come to a stop in less time thanthe first stopping mode.

For example, the second stopping mode may cause the vehicle 2 to come toa stop in fewer seconds than the first stopping mode would cause thevehicle 2 to come to a stop. Fewer seconds can reduce the severity ofinjury to the rider caused by a fire inside the vehicle 2.

Some embodiments discourage riders from smoking. In some embodiments,the vehicle management system comprises a speaker 86 configured to emitan audio command. The audio command can be configured to instruct thefirst rider to cease smoking in order to resume driving toward thedestination. For example, the audio command can say, “We aren't drivinganywhere until you stop smoking.”

In some embodiments, the vehicle management system comprises a displayscreen 93. The display screen 93 can be configured to provide visualinstructions to the first rider. The visual instructions can beconfigured to instruct the first rider to cease smoking in order toresume driving toward the destination. For example, the visualinstructions can include the following words: “We aren't drivinganywhere until you stop smoking.”

In some embodiments, the vehicle management system is configured toresume driving toward the destination in response to at least one of thesmoke detection system 74 no longer detecting the smoke and the smokedetection system 74 detecting a decrease in a concentration of thesmoke.

In some embodiments, the smoke detection system 74 is configured toanalyze a particle size of the smoke inside the vehicle 2. Themaintenance system can comprise a speaker 86, at least one processor 77,and at least one memory 75. The memory 75 can comprise programinstructions 76 configured to be executed by the at least one processor77 such that the program instructions 76 are configured to cause thespeaker 86 to emit a first audio command in response to the maintenancesystem determining that the particle size is smaller than apredetermined threshold. For example, the first audio command can say,“Smoke has been detected. We are going to pull over as soon as possible.Please unbuckle and exit the vehicle when safe to do so.”

The program instructions 76 can be configured to cause the speaker 86 toemit a second audio command in response to the maintenance systemdetermining that the particle size is larger than the predeterminedthreshold. The second audio command can be configured to communicatedifferent information than the first audio command to a first riderinside the vehicle 2. For example, the second audio command can say,“Vaping has been detected. Your account has been fined twenty dollars.Please stop vaping immediately to avoid additional fines.”

In some embodiments, the vehicle 2 is configured to drive a first riderto a destination, and the maintenance system comprises at least oneprocessor 77 and at least one memory 75. The memory 75 can compriseprogram instructions 76 configured to be executed by the at least oneprocessor 77.

In some embodiments, program instructions 76 comprise a first mode and asecond mode. In the first mode, the maintenance system can make thevehicle 2 available to accept a pick-up request of a second rider. Inthe second mode, the maintenance system can make the vehicle 2unavailable to accept the pick-up request. The maintenance system can beconfigured to enter the second mode in response to the smoke detectionsystem 74 detecting the smoke inside the vehicle 2. The maintenancesystem can be configured to exit the second mode and enter the firstmode in response to the smoke detection system 74 no longer detectingthe smoke inside the vehicle 2, the maintenance system detecting that aconcentration of the smoke is less than a predetermined threshold, themaintenance system receiving a communication in response to the vehicle2 having been cleaned, and/or the maintenance system receiving anindication (such as GPS data) indicative of the vehicle 2 having left acleaning facility.

Self-driving vehicles can include cars, vans, trucks, buses, scooters,motorcycles, helicopters, quadcopters, flying machines, air taxis,planes, and any motorized vehicle configured to transport a person.

In some embodiments, the vehicle 2 is configured to drive on a road. Thevehicle management system can comprise a vehicle guidance system 117.The vehicle guidance system 117 can comprise radar 118, lidar 119,ultrasonic sensors, cameras 111, and any other sensing devicesconfigured to enable the vehicle 2 to detect objects.

The entire contents of the following application are incorporated byreference herein: U.S. patent application Ser. No. 16/205,013; filedNov. 29, 2018; and entitled SELF-DRIVING VEHICLE SYSTEMS AND METHODS.

The vehicles 2 described herein can include any of the features of thevehicles described in U.S. patent application Ser. No. 16/205,013.

The entire contents of the following application are incorporated byreference herein: U.S. patent application Ser. No. 16/134,190; filedSep. 18, 2018; and entitled SELF-DRIVING VEHICLE SYSTEMS AND METHODS.

The vehicles 2 described herein can include any of the features of thevehicles described in U.S. patent application Ser. No. 16/134,190.

Some embodiments can be used with self-driving vehicles. Embodiments,however, are not limited to self-driving vehicles and can be used withnon-self-driving vehicles.

As used herein, “location” is used broadly and is not limited to astreet address. A location can be a Global Positioning System (“GPS”)location and can be any other location indicator. A location can be anoutdoor location. A location can be an indoor location (e.g., a locationinside a large shopping center, an apartment complex or other building).

Some embodiments use iBeacon hardware to enable tracking remotecomputing devices indoors. iBeacon is a protocol developed by Apple Inc.Several embodiments use radio transceivers (such as Bluetoothtransceivers) to enable tracking remote computing devices indoors.

Some embodiments use Global Positioning System (“GPS”) hardware todetermine an outdoor location of a remote computing device and/or of avehicle. GPS can include the system of satellites put into orbit andmaintained by the U.S. Department of Defense, Russia's GLONASS satellitesystem, assisted GPS systems, and/or any satellite system used toprovide location data.

In some embodiments, each system comprises at least one processor and amemory comprising program instructions that when executed by the atleast one processor cause the system to perform any of the stepsdescribed herein and/or incorporated by reference.

A self-driving vehicle 2 can include a vehicle guidance system 117configured to detect objects (e.g., cars, pedestrians, other vehicles,buildings, fire hydrants, trees, lane markers, guard rails, roadwaybarriers, sidewalks, roadway signs, traffic lights) located around theself-driving vehicle 2. Various sensors of the vehicle guidance system117 can sense objects even closer than an inch away (e.g., by usingultrasonic sensors) and even farther away than 100 yards (e.g., usinglong-range radar).

FIG. 12 illustrates a perspective view of the top side, the front sideand the passenger side of the vehicle guidance system 117 coupled to thevehicle 2. FIG. 13 illustrates a perspective view of the top side, thebackside side and the driver side of the vehicle guidance system 117coupled to the vehicle 2.

The vehicle guidance system 117 can comprise radar 118, lidar 119,ultrasonic sensors, cameras 111, and any other sensing devicesconfigured to enable the vehicle 2 to detect objects.

The self-driving vehicle 2 can comprise a vehicle guidance system 117mounted to the roof of the self-driving vehicle 2. In some embodiments,however, the components of the vehicle guidance system 117 are mountedon different areas of the self-driving vehicle 2. For example, theultrasonic sensors can be mounted on the bumpers of the self-drivingvehicle 2. The short range of the ultrasonic sensors can make bumpermounting helpful (because the bumper is often closer to the objectsbeing sensed). The cameras 111 can be mounted just behind the windshield(e.g., in the rearview mirror) and just behind other windows. The radars118 can be mounted near each of the four corners of the self-drivingvehicle 2. In the illustrated embodiment, however, the vehicle guidancesystem 117 can be contained in one assembly to simplify the integrationof the vehicle guidance system 117 into a vehicle.

The vehicle guidance system 117 can use cameras 111 mounted around aperimeter (e.g., around a perimeter of the vehicle 2 or around aperimeter of a housing of the vehicle guidance system 117). Asillustrated in FIGS. 12 and 13, cameras 111 face forward, backward,left, and right to provide (collectively) a 360 degree view around thevehicle 2. The cameras 111 can be high-resolution cameras covered by aglass window to protect each cameras 111 from water and dirt.

Cameras 111 can be configured to see lane markers on a road. Usingcameras 111 to see painted lane markers can be helpful (because paintedlane markers sometimes lack enough three-dimensional nature to bedetected by some other sensors). In addition, cameras 111 can see colordifferences (e.g., the difference between the color of the asphalt andthe color of yellow or white paint of a lane marker). Cameras 111 cansee the color of traffic lights (e.g., red, yellow, green).

Cameras 111 sometimes have trouble seeing in situations where the humaneye would have trouble seeing (e.g., in fog or rain).

Radars 118 can be very helpful in fog and rain. An object that is notdetected by cameras 111 (e.g., due to fog or rain) can be detected byradar 118. Radars 118 can detect the speed of other vehicles and thedistance to other vehicles. Radars 118 can also detect objects that arefar away.

Radar is an object-detection system that uses radio waves to determinethe range, angle, or velocity of objects. A radar can comprise atransmitter producing electromagnetic waves in the radio or microwavedomain, a transmitting antenna, a receiving antenna (which can be thesame antenna as the transmitting antenna), a receiver, and/or aprocessor to determine properties of the objects detected by the radar.

Lidar uses light to detect objects. A lidar 119 can be located on thetop portion of the vehicle guidance system 117 to provide a 360 degreeview of the area around the self-driving vehicle 2. The lidar 119 cantell the difference between an actual person and a billboard thatincludes a picture of a person (due to the three-dimensional nature ofthe actual person and the two dimensional nature of the picture of aperson).

The lidar 119 can accurately sense the three-dimensional nature of theworld around the self-driving vehicle 2. The lidar 119 can also measurethe distance to objects. Measuring distance can enable the self-drivingvehicle 2 to know, for example, if an approaching car is 5 meters away(so there is not enough time to turn in front of the car) or 25 metersaway (so there may be enough time to turn in front of the car).

In some embodiments, the lidar 119 is a Velodyne VLS-128 made byVelodyne LiDAR, Inc. having an office in San Jose, Calif. The VelodyneVLS-128 can provide real-time, three-dimensional data with up to 0.1degree vertical and horizontal resolution, a range of up to 300 meters,and a 360-degree surround view. The VLS-128 can provide the range,resolution and accuracy required by some of the most advanced autonomousvehicle programs in the world.

Many types of lidars can be used. Some embodiments use “incoherent” ordirect energy detection (which principally measures amplitude changes ofthe reflected light). Some embodiments use coherent detection (which insome cases can be well suited for measuring Doppler shifts, or changesin phase of the reflected light). Coherent systems can use opticalheterodyne detection.

Lidar can use pulse models. Some lidar embodiments use micropulse orhigh energy. Micropulse systems can use intermittent bursts of energy.Some lidar embodiments use high-power systems.

Lidar can comprise lasers. Some embodiments include solid-state lasers.Some embodiments include flash lidar. Some embodiments includeelectromechanical lidar. Some embodiments include phased arrays toilluminate any direction by using a microscopic array of individualantennas. Some embodiments include mirrors (e.g., microelectromechanical mirrors). Some embodiments include dual oscillatingplane mirrors, a polygon mirror and/or a scanner (e.g., a dual-axisscanner).

Lidar embodiments can include photodetector and receiver electronics.Any suitable type of photodetector can be used. Some embodiments includesolid-state photodetectors (e.g., silicon avalanche photodiodes) and/orphotomultipliers.

The motion of the vehicle 2 can be compensated for to accuratelydetermine the location, speed, and direction of objects (such as othervehicles) located outside the vehicle 2. For example, if a first vehicle2 is heading west at 35 miles per hour and a second vehicle is headingeast at an unknown speed, a vehicle guidance system 117 a of the firstvehicle 2 can remove the contribution of the 35 miles per hour whendetermining the speed of the second vehicle.

In some embodiments, motion of the vehicle 2 is compensated for by usingposition and navigation systems to determine the absolute position,speed, and orientation of the lidar, camera, radar, or other objectsensing system. A Global Positioning System (“GPS”) receiver and/or anInertial Measurement Unit (“IMU”) can be used to determine the absoluteposition and orientation of the object sensing system.

Lidar can use active sensors that supply their own illumination source.The energy can hit objects. The reflected energy can be detected andmeasured by sensors. Distance to the object can be determined byrecording the time between transmitted and backscattered pulses and byusing the speed of light to calculate the distance traveled. Scanningcan be used to create a three-dimensional image or map of the areaaround the vehicle 2.

Embodiments can use a short-range lidar to give the self-driving vehicle2 a surround view near the self-driving vehicle 2 (to see objects closeto the self-driving vehicle 2) and can use a long-range lidar configuredto not only detect objects located far from the self-driving vehicle 2,but also to enable zooming into objects that are over 200 meters away.The long-range lidar can be very helpful at high-speed highwaysituations.

Lidar uses light to detect a distance to an object, a direction to theobject, and/or a location of an object. Lidar can use pulsed laser lightemitted by a laser.

The light can reflect off objects around the vehicle 2. Thesereflections can be detected by a sensor of the lidar. Measuring how longthe light takes to return to the sensor and measuring the wavelengths ofthe reflected light can enable making a three-dimensional model of theobject being sensed and of the entire area around the vehicle 2.

The self-driving vehicle 2 can include a vehicle navigation system, acommunication system that has a transmitter and a receiver, a computersystem that has a processor, a memory that has program instructions andmap information, a traffic monitor, and a drive-by-wire system. In someembodiments, at least some of these items are part of the vehicleguidance system 117.

A vehicle navigation system can be configured to enable the vehicle 2 tofollow a driving route. The vehicle navigation system can direct thevehicle toward a pick-up location, a drop-off location, and/or anotherlocation.

A communication system can be configured to communicate with a vehiclemanagement system. The communication system can be configured tocommunicate with a remote computing device of a rider. The communicationsystem can use an antenna to communicate with other vehicles and otherdevices via intermediary communication systems.

Intermediary communication systems can comprise wireless networks, Wi-Firouters, Bluetooth systems, cellular networks, telephone networks,Internet systems, servers, cloud computing, remotely located computers,satellite systems, communication systems, and any other suitable meansof enabling communication between the various components of embodimentsdescribed herein and/or incorporated by reference.

The vehicle 2 can comprise a drive-by-wire system. The drive-by-wiresystem can be a computer-regulated system for controlling the engine,accelerating, braking, steering, signaling, handling, suspension, and/orother functions related to autonomously driving the vehicle 2.

Receiving radio communications (with position data) from three or moreGPS satellites can provide data to enable each vehicle and each remotecomputing device to calculate its own position.

Each device can receive radio signals broadcasted from GPS satellites.Then, the device can calculate how far it is away from the broadcastingsatellite by determining how long the radio signal (traveling atlightspeed) took to arrive at the device. Trilateration (based on datafrom at least three GPS satellites) enables the device to know where itis located. The device can then send its location to the vehiclemanagement system. A location tracking system can receive the locationdata from the vehicle management system, from the device, and/or fromany other system.

Communicative coupling may be via continuous communications orintermittent communications. Intermittent communications can be viaperiodic communications (e.g., every 1 second, every 60 seconds, every10 minutes). As used herein, “periodically” does not imply that everyperiod has the same duration. In some embodiments, the communicativecoupling is via intermediary communication systems 15.

A remote computing device can be a smartphone, a tablet computer, alaptop computer, a desktop computer, a server, augmented realityglasses, an implanted computer, and/or any type of computer. A rider canbring her remote computing device into the self-driving vehicle, use herremote computing device in the self-driving vehicle, and leave theself-driving vehicle with her remote computing device. In someembodiments, the rider requests a ride at her home with a remotecomputing device, but then leaves the remote computing device at homewhen she goes to get a ride from the self-driving vehicle.

In some embodiments, a remote computing device comprises anaccelerometer, a barometer (which can include an altimeter), agyroscope, a WiFi tracker, a compass, a location tracking system, amemory, a computer system having a processor, a database and/or acommunication system. The communication system can include atransmitter, a receiver, and/or an antenna. The remote computing devicecan comprise a display screen configured to display images to a rider.The remote computing device can comprise a speaker configured to emitsounds to the rider. The remote computing device can comprise amicrophone configured to record sounds from the rider.

A maintenance system can be configured to be used with one or moreself-driving vehicles. A maintenance system can comprise a smokedetection system 74 coupled to the vehicle 2 and configured to detectsmoke inside a cabin of the vehicle 2; and a vehicle management system65 configured to autonomously drive the vehicle 2.

The vehicle management system 65 can comprise a motor 81 configured toopen a window 82 of the vehicle 2. The vehicle management system 65 canalso comprise a ventilation system 84 having a fan 83 to configuredcirculate air in the cabin. Many different types of fans can be used.For example, Porsche vehicles, Acura vehicles, Ford vehicles, Toyotavehicles, and many other vehicles use fans to circulate air insidevehicles.

Fans can include revolving blades or fins configured to push air. Someembodiments use axial fans. Some embodiments use centrifugal fans. Someembodiments use cross flow fans. Tubular fans, tangential fans, andsquirrel cage fans can be used with the embodiments described hereinand/or incorporated by reference.

A maintenance system can comprise a computer system 7 comprising atleast one processor 77 and a memory 75 having program instructions 76that when executed by the at least one processor 77 are configured tocause the motor 81 to automatically open the window 82 in response tothe smoke detection system 74 detecting the smoke inside the vehicle 2.The program instructions 76 can be configured to increase a rotationalspeed of the fan 83 in response to the smoke detection system 74detecting the smoke inside the vehicle 2.

In some embodiments, a vehicle management system 65 comprises a motor 81configured to open a window 82 of the vehicle 2. The vehicle managementsystem 65 can comprise program instructions 76 configured to cause themotor 81 to automatically open the window 82 in response to the smokedetection system 74 detecting the smoke inside the vehicle 2.

Many different types of motors can be used to open and close windows 82.AutoZone sells a wide selection of window 82 lift motors. DormanProducts has an office in Colmar, Pa. has a range of window 82 liftmotors. These motors can be configured to “roll up” and “roll down” awindow 82 (e.g., a door window) of a car.

Air, especially in urban areas, generally has low levels of smoke evenwhen a person is not smoking in the area. Thus, it is advantageous forsome of the embodiments described herein to only react if theconcentration of smoke is above a predetermined threshold.

Program instructions 76 can be configured to cause the motor 81 toautomatically open the window 82 in response to the smoke detectionsystem 74 detecting a concentration of the smoke greater than apredetermined threshold.

In response to the smoke detection system 74 detecting the smoke insidethe vehicle 2, the program instructions 76 can prevent a first riderfrom closing the window 82 by at least one of disabling the motor 81,disabling a switch configured to move the window 82, disabling a systemconfigured to close the window 82, and locking the window 82 in an openposition.

The system configured to close the window 82 can include a window 82lock, a switch (that when touched or activated opens or closes thewindow 82), a motor 81 configured to open or close the window 82, otherelectrical components used to operate the window 82, a power supplyconfigured to operate the motor 81 or the other electrical componentsused to operate the window 82, guides that direct the window 82 as thewindow 82 “rolls” or moves down (or up), electrical connectionsconfigured to control the flow of electricity to components related tooperating the window 82.

The system configured to close the window 82 can include any of thecomponents, parts, and systems used to open and close windows invehicles made by Tesla, Toyota, Ford, Honda, GMC, BMW, and Nissan.

After causing the motor 81 to open the window 82, the programinstructions 76 can cause the motor 81 to automatically close the window82 in response to at least one of the smoke detection system 74 nolonger detecting the smoke inside the vehicle 2 and the smoke detectionsystem 74 detecting a concentration of the smoke less than apredetermined threshold.

Accurately detecting if a rider is smoking in the vehicle 2 can bedifficult if the windows are open. Open windows can bring in so muchoutside air that detecting the smoke can be difficult. If the systemsuspects that the rider may be smoking (e.g., due to detecting very lowlevels of smoke), the system can roll up the windows to enable thesystem to more accurately determine if the rider is smoking in thevehicle 2. Then, if the system determines that the rider is smoking, thesystem can roll down the windows to reduce smoke damage to the vehicle2.

In some embodiments, the vehicle management system 65 comprises a motor81 configured to close a window 82 of the vehicle 2. The vehiclemanagement system 65 can comprise program instructions 76 configured tocause the motor 81 to automatically close the window 82 in response tothe smoke detection system 74 detecting a first concentration of thesmoke greater than a first predetermined threshold to enable the smokedetection system 74 to detect a second concentration of the smoke abovea second predetermined threshold with the window 82 closed. The secondpredetermined threshold can be greater than the first predeterminedthreshold.

The maintenance system can comprise a communication system. In responseto detecting the second concentration of the smoke above the secondpredetermined threshold, the program instructions 76 can cause thecommunication system to send a first wireless communication to a remotecomputing device. The first wireless communication can be configured tonotify the remote computing device regarding the smoke.

After the program instructions 76 cause the motor 81 to automaticallyclose the window 82 in response to the smoke detection system 74detecting the first concentration of the smoke above the firstpredetermined threshold, the program instructions 76 can cause the motor81 to automatically open the window 82 in response to detecting thesecond concentration of the smoke above the second predeterminedthreshold.

Accurately detecting if a rider is smoking in the vehicle 2 can bedifficult if the ventilation system 84 is quickly blowing a high volumeof air into the cabin of the vehicle 2. The ventilation system 84 canbring in so much outside air and/or filtered air that detecting thesmoke can be difficult. If the system suspects that the rider may besmoking (e.g., due to detecting very low levels of smoke), the systemcan reduce a rate at which the ventilation system 84 blows air into thecabin to enable the system to more accurately determine if the rider issmoking in the vehicle 2. (In some embodiments, the system stops thefan.) Then, if the system determines that the rider is smoking, thesystem can increase the rate at which the ventilation system 84 blowsair into the cabin to reduce smoke damage to the vehicle 2.

The vehicle management system 65 can comprise a ventilation system 84having a fan 83 to configured circulate air in the cabin. The vehiclemanagement system 65 can comprise program instructions 76 configured toreduce a rotational speed of the fan 83 in response to the smokedetection system 74 detecting a first concentration of the smoke above afirst predetermined threshold to enable the smoke detection system 74 todetect a second concentration of the smoke above a second predeterminedthreshold after the rotational speed is reduced. The secondpredetermined threshold can be greater than the first predeterminedthreshold.

The maintenance system can comprise a communication system. In responseto detecting the second concentration of the smoke above the secondpredetermined threshold, the program instructions 76 can cause thecommunication system to send a first wireless communication to a remotecomputing device. The first wireless communication can be configured tonotify the remote computing device regarding the smoke in the vehicle 2.

After the program instructions 76 reduce the rotational speed of the fan83 in response to the smoke detection system 74 detecting the firstconcentration of the smoke above the first predetermined threshold, theprogram instructions 76 can increase the rotational speed of the fan 83in response to detecting the second concentration of the smoke above thesecond predetermined threshold.

The vehicle management system 65 can comprise a ventilation system 84having a fan 83 configured to circulate air in the cabin. The vehiclemanagement system 65 comprises program instructions 76 configured toincrease a rotational speed of the fan 83 in response to the smokedetection system 74 detecting the smoke inside the vehicle 2.

The program instructions 76 can be configured to increase the rotationalspeed of the fan 83 in response to the smoke detection system 74detecting a concentration of the smoke greater than a predeterminedthreshold.

After increasing the rotational speed of the fan 83, the programinstructions 76 can decrease the rotational speed of the fan 83 inresponse to at least one of the smoke detection system 74 no longerdetecting the smoke inside the vehicle 2 and the smoke detection system74 detecting a concentration of the smoke less than a predeterminedthreshold.

The vehicle management system 65 can comprise a ventilation system 84having a fan 83 to configured circulate air in the cabin. The smokedetection system 74 can be configured to analyze a particle size of thesmoke to determine if the particle size is smaller than a predeterminedthreshold. The vehicle management system 65 can comprise programinstructions 76 configured to increase a rotational speed of the fan 83in response to the smoke detection system 74 detecting the smoke insidethe vehicle 2 and determining that the particle size is less than thepredetermined threshold. The smoke detection system 74 can comprise atleast one optical smoke detector configured to analyze the particle sizeof the smoke.

Carbon monoxide can be deadly. Unfortunately, carbon monoxide istypically impossible for humans to detect on their own. Sometimes,vehicle exhaust systems have leaks that allow carbon monoxide (e.g.,from the combustion of the engine) to enter the cabin of the vehicle 2.Carbon monoxide in the cabin can make riders sick and can even be fatal.In some embodiments, the camera device 10 comprises a carbon monoxidedetector having a sensor configured to detect carbon monoxide. Holes 34enable the carbon monoxide to enter the camera device 10 to enable thecarbon monoxide detector to detect the carbon monoxide.

The maintenance system can comprise a motor 81 configured to open awindow 82 of the vehicle 2; a carbon monoxide detector; and/or programinstructions 76 configured to cause the motor 81 to automatically openthe window 82 of the vehicle 2 in response to the carbon monoxidedetector detecting a first concentration of carbon monoxide greater thana first predetermined threshold. Opening the window 82 can allow freshair into the cabin to reduce the concentration of carbon monoxide.

The maintenance system can comprise a ventilation system 84 having a fan83 to configured circulate air in the cabin. The program instructions 76can be configured to increase a rotational speed of the fan 83 inresponse to the carbon monoxide detector detecting a secondconcentration of the carbon monoxide greater than a second predeterminedthreshold. Increasing the rotational speed can bring fresh air into thecabin of the vehicle 2 to reduce the concentration of carbon monoxide.

In addition to detecting smoke within the cabin of the vehicle 2 and theother features disclosed heretofore, the system may also be arranged andconfigured to detect whether a temperature inside the cabin of thevehicle 2 has reached a predetermined temperature threshold therebyindicating the presence of a dangerous situation. Accordingly, FIG. 14illustrates a diagrammatic view of a temperature detection system 110.It should be appreciated that the temperature detection system 110 maybe a component within a safety detection system configured to be usedwith a self-driving vehicle 2.

FIG. 14 includes various broken line circles 120, 122, 124 intended toshow different locations that the temperature detection system may belocated on the vehicle 2. Location 120 includes any location within thecabin of the vehicle 2. Location 122 includes any location within theengine compartment of the vehicle 2, such as under the hood near theengine. Furthermore, location 124 includes a cargo compartment of thevehicle 2, such as inside the trunk. Generally, the temperaturedetection system 110 is intended to monitor the temperature of anylocation of the vehicle 2.

In this regard, the safety detection system may include the temperaturedetection system 110 coupled to the vehicle 2 and configured to detectwhether a temperature inside at least one of a cabin 120 of the vehicle2, an engine compartment 122 of the vehicle 2, and a cargo compartment124 of the vehicle 2 exceeds a predetermined threshold. The system mayalso include a vehicle management system configured to autonomouslydrive the vehicle 2.

In many embodiments, the vehicle management system is configured toreduce a speed of the vehicle in response to the temperature detectionsystem detecting that the temperature exceeds the predeterminedthreshold. In some embodiments, the predetermined threshold is 100° F.It should be appreciated that the predetermined threshold may be anytemperature, such as 150° F., 200° F., 250° F., 300° F., 350° F.

The vehicle management system may include at least one of a speaker 86and a display screen 93. The at least one of the speaker 86 and thedisplay screen 93 may be configured to provide at least one of audioinstructions and visual instructions to a rider. Furthermore, the atleast one of the audio instructions and visual instructions compriseinformation related to the temperature. At least one of the audioinstructions and visual instructions may be configured to alert therider regarding at least one of the smoke, the door 130 being unlocked,the reduced speed of the vehicle 2, the window 137 being at leastpartially open, the seat belt 153 being unbuckled, emergency personnelbeing notified, the fire extinguisher 180 being activated, and the like.

In some embodiments, the system comprises at least one processor 77 andat least one memory 75 having program instructions 76 that when executedby the at least one processor 77 are configured to cause the vehicle 2to reduce a speed of the vehicle 2 in response to the temperaturedetection system 110 detecting that the temperature exceeds thepredetermined threshold.

In many embodiments, the vehicle 2 comprises a door 62 and a door lock92 configured to impede opening the door 62, and the programinstructions 76 are configured to automatically unlock the door lock 92in response to the temperature detection system detecting that thetemperature exceeds the predetermined threshold. Furthermore, theprogram instructions 76 may be configured to automatically unlock thedoor lock 92 in response to the temperature detection system 110detecting the temperature exceeds the predetermined threshold and thesafety detection system detecting that the vehicle 2 is at least one ofstopped and moving at a velocity of less than a predetermined velocity,such as fifteen miles per hour. In some embodiments, the vehicle 2comprises a door 62 and a motor 63 configured to open the door 62. Insuch embodiments, the program instructions 76 may be configured to causethe motor 63 to open the door 62 in response to the temperaturedetection system 110 detecting that the temperature exceeds thepredetermined threshold and the safety detection system detecting thatthe vehicle 2 is at least one of stopped and moving at a predeterminedvelocity, such as less than ten miles per hour.

In some embodiments, the program instructions 76 are configured toautomatically unlock the door lock 92 in response to the temperaturedetection system 110 detecting the temperature exceeds the predeterminedthreshold and in response to at least one of the safety detection systemdetermining that the temperature exceeds a second predeterminedthreshold that is greater than the predetermined threshold.

In some embodiments, the program instructions are configured to causethe vehicle to stop moving via a first stopping mode in response to thetemperature detection system detecting the temperature exceeds thepredetermined threshold. Additionally, in some embodiments, the programinstructions are configured to cause the vehicle to stop moving via asecond stopping mode in response to the temperature detection systemdetecting the temperature exceeds the predetermined threshold and thesafety detection system detecting an indication of a person beinglocated inside the vehicle, and the second stopping mode is configuredto enable the vehicle to stop more quickly than the first stopping mode.

In some embodiments, the second stopping mode is configured to enablethe vehicle 2 to move at a greater speed than the first stopping mode.Furthermore, in some embodiments, the vehicle management system isconfigured to determine a local speed limit, and the second stoppingmode is configured to enable the vehicle 2 to exceed the local speedlimit by a greater amount than the first stopping mode. In someembodiments, the second stopping mode is configured to enable thevehicle 2 to accelerate faster than the first stopping mode. In someembodiments, the second stopping mode is configured to enable thevehicle 2 to decelerate faster than the first stopping mode.

In many embodiments, the vehicle management system comprises a vehicleguidance system having at least one of a camera, a radar, and a lidar.In many embodiments, the vehicle guidance system is configured to detectobjects located outside the vehicle on the road, and the programinstructions 76 are configured to enable the vehicle to come closer tothe objects in the second stopping mode than in the first stopping mode.

With continued reference to FIG. 14, a remote computing device 12 c of amanager 3 of the vehicle 2 can receive wireless communications from thevehicle 2 (in some cases via intermediary communication system 5) inresponse to the vehicle 2 detecting a temperature that exceeds apredetermined threshold.

The temperature detection system 110 can include a variety of devices todetect temperature. In some embodiments, the temperature detectionsystem 110 comprises at least one of an image analysis system 70, aninfrared camera 10, thermocouple 116, resistance temperature detector(RTD) 120, thermistor 122, integrated circuit 124, pyrometer 126, andthermometer 128.

Devices such as the thermocouple 116, resistance temperature detector(RTD) 120, thermistor 122, integrated circuit 124, pyrometer 126, andthermometer 128 may be configured to detect air and/or a surfacetemperature in the various locations 120, 122, 124 of the vehicle 2. Theinfrared camera 10 may be configured to detect temperatures within thevehicle 2 by inferring temperature from a portion of the thermalradiation sometimes cal led black-body radiation emitted by the objectbeing measured. In this regard, the infrared camera 10 may be arrangedand configured to monitor specific objects or targets within the vehicle2. Additionally, the infrared camera 10 may be arranged and configuredto monitor general locations within locations 120, 122, 124.

In some situations, the temperature may be less than the predeterminedthreshold but the temperature of an area of the vehicle 2 or a specificobject located within the vehicle 2 may be increasing at a rapid rate.As such, to detect these dangerous situations, the temperature detectionsystem 110 (via an infrared camera) may be configured to determine thatthe temperature is increasing at a rate that exceeds a predeterminedrate. For example, the temperature of the cargo area 124 of the vehicle2 may be well below the predetermined threshold, but a laptop located inthe cargo area 124 may be increasing at a rapid rate, such as 20° F. perminute. Accordingly, the temperature detection system 110 may beconfigured to determine increasing temperature rates of an entire area,such as the cargo area 124 of the vehicle 2, and/or an individualobject, such as the laptop in the cargo area 124. Various preventativemeasures can be taken, such as reducing the speed of the vehicle 2 sothat the riders can exit safely.

A vehicle fire is an emergency in which seconds count. Each second saveduntil the rider exits the vehicle can significantly reduce the severityof injuries due to the fire. In fact, mere seconds can mean thedifference between life and death.

Vehicle fires cause some riders to panic. In this panicked state ofmind, some riders forget to unbuckle their seat belt, cannot see how tounbuckle their seat belt due to smoke, fail to look for the doorunlocking button, fail to find the door unlocking button due to smoke orlack of clear mental processing, fail to look for the door openinghandle, and/or even fail to find the door opening handle. Someembodiments reduce fire-related injuries and save lives by enablingriders to exit vehicles more quickly.

FIG. 15 illustrates a perspective view of a door 130 of the vehicle 2.Some portions of the door 130 are hidden to focus attention on thefeatures shown in FIG. 15. As indicated by the closed state of thehinges 138 and a retracted state of a rod 149 of the door actuator 135,the door 130 is in a closed state in FIG. 15.

FIG. 16 illustrates a perspective view of an open state of the door 130of the vehicle 2. Some portions of the door 130 are hidden to focusattention on the features shown in FIG. 16. As indicated by the openstate of the hinges 138 and an extended state of the rod 149 of the dooractuator 135, the door 130 is in an open state in FIG. 16.

The rod 149 can retract into an outer housing of the door actuator 135(which can be a linear actuator) to pull the door 130 closed. The rod149 can extend out of the outer housing of the door actuator 135 to pushthe door 130 open. An anchor 150 couples a distal end of the rod 149 toa frame of the vehicle 2.

The vehicle 2 can comprise power door locks. A button 142 can beconfigured to lock and unlock the door 130. The button 142 canmechanically and/or electrically interact with the door lock 132.Pressing the button 142 can send electrical power to a door lockactuator 139 that is configured to unlock the door 130 by placing thedoor lock 132 in an unlocked state.

Referring now primarily to FIGS. 9, 15, and 16, the computer system 7can control the locked and unlocked states of the door lock 132. Forexample, program instructions 76 can be configured to lock or unlock thedoor in response to a safety system detecting various items.

A door lock actuator 139 can place the door lock 132 in a locked state(e.g., when a rod 145 of the door lock actuator 139 is in a firstposition). A door lock actuator 139 can place the door lock 132 in anunlocked state (e.g., when a rod 145 of the door lock actuator 139 is ina second position).

The rod 145 can extend out of an outer housing of the door lock actuator139 and can retract into the outer housing of the door lock actuator 139to place the door lock 132 in a locked state or in an unlocked state.The door 130 can comprise a door latch 147. When the door latch 147 isengaged with an anchor coupled to a frame of the vehicle 2, the doorlatch 147 holds the door 130 in a closed state. Moving the door latch147 to disengage the door latch 147 from the anchor coupled to the frameenables the door 130 to open.

When the door lock 132 is in a locked state, moving the door handle 146does not move the door latch 147. When the door lock 132 is in anunlocked state, moving the door handle 146 moves the door latch 147 toenable opening the door 130. The door latch 147 can be moved by the doorhandle 146 or by a door latch actuator 148 that is part of the door lock132 and/or part of the door latch 147.

The computer system 7 can control the movement of the door lock actuator139, the door latch actuator 148, and the door actuator 135. Programinstructions 76 can be configured to cause movement of the door lockactuator 139, the door latch actuator 148, and the door actuator 135.

Embodiments can use many different types of actuators (e.g., for thedoor lock actuator 139, the door latch actuator 148, and the dooractuator 135). Some embodiments use electric linear actuators. Actuatorscan be electric, hydraulic, pneumatic, twisted and coiled polymer (TCP),supercoiled polymer (SCP), thermal, magnetic, and/or mechanical.Actuators can comprise electric motors, comb drives, electroactivepolymers, hydraulic cylinders, piezoelectric components, pneumaticcomponents, screw jacks, servomechanism, servomotors, solenoids, steppermotors, shape memory alloys, and/or thermally active components.

FIG. 17 illustrates a perspective view of a door 130 a. The door 130illustrated in FIGS. 15 and 16 can include all of the componentsdescribed in the context of the door 130 a in FIG. 17. Many componentsof the door 130 a are hidden to more clearly show particular componentsin FIG. 17.

Referring now primarily to FIGS. 9 and 17, the door 130 a can comprise awindow regulator 152 configured to open and close a window 137 of thedoor 130 a. A motor 136 can cause a cable and pulley system of thewindow regulator 152 to move the window up and down.

The computer system 7 can control the open and closed states of thewindow 137 by causing the motor 136 of the window regulator 152 to movethe window 137 up and down. The motor 136 can be an electric motor thatis electronically controlled by the computer system 7. Programinstructions 76 can be configured to open and close the window 137 inresponse to a safety system detecting various items.

Additional vehicle details are described in U.S. Pat. Nos. 6,530,251;5,386,713; 6,328,353; and 4,929,007. The entire contents of U.S. Pat.Nos. 6,530,251; 5,386,713; 6,328,353; and 4,929,007 are incorporated byreference herein.

In many embodiments, a safety system includes a self-driving vehicle 2and a vehicle management system configured to autonomously drive theself-driving vehicle. The safety system may also include a smokedetection system 74 coupled to the self-driving vehicle 2 and configuredto detect smoke inside a cabin of the self-driving vehicle 2.

With reference to FIG. 15, the self-driving vehicle 2 may include a door130 and a door lock 132 configured to impede opening the door 130. Inmany embodiments, the safety system comprises at least one processor 77and at least one memory 75 having program instructions 76 that whenexecuted by the at least one processor are configured to cause thevehicle management system to unlock the door 130 of the self-drivingvehicle 2 in response to the smoke detection system 74 detecting thesmoke inside the self-driving vehicle 2.

When smoke is present in the self-driving vehicle 2, the rider'sinstinct may cause the rider to panic and open the door 130. However, ifthe vehicle 2 is moving at relatively high rate of speed (e.g. greaterthan 15 mph) it may be very dangerous to open the door 130. Accordingly,as shown in FIG. 9, the safety system may further comprise a speeddetection system 134. In some embodiments, the program instructions areconfigured to cause the vehicle management system to automaticallyunlock the door 130 in response to the smoke detection system 74detecting the smoke inside the self-driving vehicle 2 and the speeddetection system 134 determining that the self-driving vehicle 2 ismoving at a first speed that is less than a first speed threshold. Insome embodiments, the first speed threshold is less than 30 miles perhour.

Even still, in some embodiments, the program instructions are configuredto cause the vehicle management system to unlock the door 130 inresponse to the smoke detection system 74 detecting the smoke inside theself-driving vehicle 2 and the speed detection system 134 determiningthat the self-driving vehicle 2 is moving at a first speed that is lessthan a first speed threshold. Furthermore, in some embodiments, theprogram instructions are configured to cause the motor to at leastpartially open the door 130 in response to the smoke detection system 74detecting the smoke inside the self-driving vehicle 2 and the speeddetection system 134 determining that the self-driving vehicle 2 ismoving at a second speed that is less than a second speed threshold. Insome embodiments, the second speed threshold is less than 15 miles perhour.

In some embodiments, the speed threshold for unlocking doors is lessthan 30 miles per hour, less than 20 miles per hour, less than 10 milesper hour, greater than 5 miles per hour, and/or greater than 1 mile perhour. In some embodiments, the speed threshold for opening doors is lessthan 21 miles per hour, less than 15 miles per hour, less than 5 milesper hour, and/or greater than 1 mile per hour. In some embodiments, theprogram instructions are not configured to unlock the doors and/or openthe doors until at least a portion of the safety system verifies thatthe vehicle is no longer moving.

Many different types of speed detection systems can be used. In someembodiments, a self-driving vehicle 2 comprises a speed detection system134 that enables the speedometer of the self-driving vehicle 2 todisplay a speed of the vehicle 2. In some embodiments, the safety systemuses GPS data (e.g., including locations of the vehicle every 0.1second) to calculate the speed of the self-driving vehicle 2.

Smoke inhalation may pose a serious health and safety risk to therider(s). For example, a rider may inhale smoke from inside the cabin ofthe self-driving vehicle 2 and thereby become incapacitated leaving therider trapped in the vehicle 2. As such, it may be desirable toconfigure the self-driving vehicle 2 such that the door 130automatically opens in response to the presence of smoke. Accordingly,the self-driving vehicle 2 may comprise a motor (e.g., of the dooractuator 135) configured to at least partially open the door 130.Furthermore, the program instructions may thereby be configured to causethe motor 135 to at least partially open the door in response to thesmoke detection system 74 detecting the smoke inside the self-drivingvehicle 2.

With reference to FIG. 17, the self-driving vehicle may include a window137 and a motor 136 configured to at least partially open the window137. In such embodiments, the program instructions may be configured tocause the motor 136 to at least partially open the window 137 inresponse to the smoke detection system 74 detecting the smoke inside theself-driving vehicle 2.

In some embodiments, the smoke detection system 74 is configured todetermine particle size of the smoke and concentration of the smoke. Insuch embodiments, the program instructions may be configured to causethe vehicle management system to automatically unlock the door 130and/or open the door 130 of the self-driving vehicle 2 in response tothe smoke detection system 74 detecting the smoke inside theself-driving vehicle 2 and the safety system determining theconcentration of the smoke is greater than a predetermined threshold. Itshould be appreciated that the concentration of smoke may indicate theamount of combustion products found in a specified volume of air,commonly expressed as micrograms of emission per cubic meter of air.

Additionally, in some embodiments, the smoke detection system 74 isconfigured to detect a particle size of the smoke, and the vehiclemanagement system is configured to unlock the door 130 in response tothe smoke detection system 74 detecting the smoke inside theself-driving vehicle 2 and the safety system determining the particlesize is smaller than a predetermined threshold.

Now, with reference to FIG. 17, many embodiments of the self-drivingvehicle 2 comprise a window 137 and a motor 136 configured to at leastpartially open the window. In some embodiments, the smoke detectionsystem 74 is configured to detect a particle size of the smoke and theprogram instructions are configured to cause the vehicle managementsystem to unlock the door 130 in response to the safety systemdetermining the particle size is smaller than a first predeterminedthreshold. Furthermore, the program instructions may also be configuredto cause the motor 136 to at least partially open the window 137 inresponse to the safety system determining the particle size is largerthan a second predetermined threshold. In some embodiments, the firstpredetermined threshold is smaller than or equal to the secondpredetermined threshold. However, in some embodiments, the firstpredetermined threshold is larger than the second predeterminedthreshold.

Many different ways of detecting particle sizes are described hereinand/or incorporated by reference. In some embodiments, the smokedetection system 74 comprises an optical smoke detection system thatuses several different infrared light wavelengths. The infrared lightwavelengths selected for use in the optical smoke detection system canbe chosen because they approximately correspond (in length) to particlessizes emitted in vehicle fires.

Furthermore, an optical smoke detector can use a first infrared lightwavelength, a second infrared light wavelength (that is longer than thefirst wavelength), a third infrared light wavelength (that is longerthan the second wavelength), and a fourth infrared light wavelength(that is longer than the third wavelength). Optical smoke detectors cansense smoke particles when smoke particles scatter a beam of theinfrared light onto a light detector. An optical smoke detection systemcan detect an indication of smoke particle size by determining which ofthe first, second, third, and fourth wavelengths were scattered by thesmoke particle.

As described heretofore, the self-driving vehicle 2 may comprise anactuator 139 configured to move the door lock 132 to an unlocked state.In some embodiments, the program instructions are configured to verifythe door 130 is in the unlocked state in response to the smoke detectionsystem 74 detecting the smoke inside the self-driving vehicle 2. If thedoor 130 is in the locked state, the program instructions can beconfigured to cause the vehicle management system to put the door 130 inthe unlocked state in response to the smoke detection system 74detecting the smoke inside the self-driving vehicle 2. In someembodiments, the program instructions can cause the vehicle managementsystem to put the door 130 in the unlocked state in response to thesmoke detection system 74 detecting the smoke inside the self-drivingvehicle 2, without first verifying the whether the door 130 is in theunlocked state.

In some embodiments, the smoke detection system 74 comprises a camera 10and at least one of an ionization smoke detector and an optical smokedetector. In some embodiments, the camera 10 is configured to take apicture showing at least a portion of the cabin. Furthermore, theprogram instructions may thereby be configured to cause the motor 136 toat least partially open the window 137 in response to the safety systemdetermining that the picture shows the smoke, and the programinstructions are configured to cause the door lock actuator 139 to movethe door lock 132 to the unlocked state in response to at least one ofthe ionization smoke detector and the optical smoke detector detectingthe smoke inside the self-driving vehicle 2. In some embodiments,program instructions are configured to at least partially open thewindow 137 in response to at least one of the ionization smoke detectorand the optical smoke detector detecting the smoke inside theself-driving vehicle 2.

Because of the risk of false positives, in some embodiments, theself-driving vehicle 2 is configured to verify the presence of smoke byreceiving a verification from a rider present inside the vehicle 2.Accordingly, as shown in FIG. 23, the program instructions areconfigured to automatically unlock the door lock 132 in response to thesmoke detection system 74 detecting the smoke inside the self-drivingvehicle 2 and the safety system receiving a verification input 171 froma rider. The verification input 171 may be configured to confirm apresence of the smoke 88, 89 in the self-driving vehicle 2.

As shown in FIGS. 2 and 3, the self-driving vehicle 2 may comprise adisplay screen 93. Now, with reference to FIG. 23, the programinstructions may be configured to receive the verification input 171from the rider via at least one of the display screen 93 and a buttonpressed by the rider in response to a visual request shown on thedisplay screen 93, such input(s) are referred to as display screen input172. Accordingly, in response to the smoke detection system 74 detectingthe smoke, the program instructions may thereby be configured to causethe display screen 93 to emit, display, and/or present the visualrequest for the rider to confirm the presence of the smoke. The displayscreen 93 can be a touch screen. In some embodiments, the verificationinput 171 comprises a touch input 173 received by a touch sensor coupledto the self-driving vehicle 2 and communicatively coupled to the vehiclemanagement system 181.

The verification input 171 may define a variety of formats, such as averbal response 174 from the rider. Accordingly, the self-drivingvehicle 2 may comprise a microphone 186 and a speaker 86. In suchembodiments, the verification input 171 comprises a verbal response 174received from the rider via the microphone 186 in response to theprogram instructions causing the speaker 86 to emit an audio request forthe rider to confirm the presence of the smoke. In response to the smokedetection system 74 detecting the smoke, the program instructions maythereby be configured to cause the speaker 86 to emit the audio request.

The verification input 171 may take on additional forms, such as aphysical gesture 175 made by the rider. In such embodiments, theself-driving vehicle 2 may comprise a camera 24 c, and the verificationinput 171 may comprise a gesture 175 made by the rider and recorded bythe camera 24 c. In some embodiments, in response to the smoke detectionsystem 74 detecting the smoke, the program instructions are configuredto ask the rider to make a particular gesture if she believes there issmoke in the vehicle 2. The gesture 175 can be nodding her head, usingsign language, or any other gesture that the system can interpret.

In some embodiments, the program instructions do not ask the rider tomake a particular gesture if she believes there is smoke in the vehicle.Instead, a vision recognition system can use artificial intelligence(such as AWS machine learning made by Amazon Web Services, Inc.) toidentify gestures associated with how riders respond to smoke in thevehicle. For example, the rider may express panic via facialexpressions, may make wild movements that are uncharacteristic of normalriding behavior, may make rapid movements to open the window or bang onthe window, may yell for “help,” etc.

As shown in FIG. 23, in some embodiments, the safety system 170 and thesmoke detection system 74 include a communication system 71, atransmitter 72, a receiver 73, and an antenna 19. The antenna 19 cancommunicatively couple at least one of the vehicle management system181, the safety system 170, and the smoke detection system 74 to aremote computing device(s) 12. Accordingly, the verification input 171may comprise a wireless communication 176 transmitted from a remotecomputing device 12 of the rider to the safety system 170. In thisregard, the wireless communication 176 may comprise or be caused by atouch input received on a display screen of the remote computing device12, such as via an app running on the remote computing device 12. Insome embodiments, the wireless communication 176 comprises a textmessage or any transmission via radio communications, such as Bluetooth,cellular, WiFi, and the like. It should be appreciated that the wirelesscommunication 176 may be transmitted directly or indirectly viaintermediary communication systems 5.

In some embodiments, the self-driving vehicle 2 is configured to provideadditional ways of alerting the rider. For example, in response to thesmoke detection system 74 detecting the smoke inside the self-drivingvehicle 2, the program instructions may be configured to cause thespeaker 86 to emit audio instructions. The audio instructions may beconfigured to alert a rider regarding at least one of the smoke and thedoor being unlocked. In this regard, if the rider is not payingattention or is incapacitated (sleeping, drunk, disabled, and the like),then the audio instructions may provide for another way of alerting therider and hopefully getting the rider's attention and thereby gettingthem to safety.

As shown in FIG. 23, in some embodiments, the self-driving vehicle 2includes a fire extinguisher 180 arranged and configured to extinguishor at least control a fire inside a cabin of the vehicle 2. Accordingly,the safety system 170 may comprise at least one processor and at leastone memory having program instructions that when executed by the atleast one processor are configured to cause the vehicle managementsystem 181 to cause the fire extinguisher 180 to extinguish or at leastcontrol (i.e. contain) the fire in response to the smoke detectionsystem 74 detecting smoke inside the cabin of the vehicle 2. The fireextinguisher 180 may comprise a water fire extinguisher, AFFF foam fireextinguisher, carbon dioxide fire extinguisher, ABC powder fireextinguisher, water mist fire extinguisher, wet chemical fireextinguisher, and the like. In some embodiments, the fire extinguisher180 is implemented as a fire suppression system using a combination ofdry chemicals and/or wet agents to suppress fires. In some embodiments,the fire extinguisher 180 is an X-Tinguish® Fire Suppression System forTransportation made by Flame Guard USA having a manufacturing facilityin Lake Barrington, Ill.

As illustrated in FIGS. 9, 14, and 23, the safety system 170 may alsocomprise a temperature detection system 110 coupled to the self-drivingvehicle 2 and configured to detect a temperature inside at least aportion of self-driving vehicle 2. Accordingly, the program instructionsmay be configured to cause the vehicle management system 181 to unlockthe door 130 in response to the smoke detection system 74 detecting thesmoke inside the self-driving vehicle 2 and the temperature detectionsystem 74 detecting the temperature greater than a predeterminedtemperature threshold.

In some embodiments, the temperature detection system 110 comprises acamera system configured to identify the smoke. In some embodiments,cameras 24 a, 24 b, 24 c are configured to take pictures based ondetecting light that is visible to the human eye. In some embodiments,at least some of the cameras 24 a, 24 b, 24 c are thermal imagingcameras configured to detect the heat from a fire. The thermal imagingcameras can be part of the temperature detection system 110. A thermalimaging camera can be an infrared camera made by FUR Systems, Inc.Embodiments can analyze infrared radiation to detect fires in a vehicle2. In some embodiments, the infrared radiation is rendered as visiblelight to aid in heat analysis. Program instructions 76 can analyze theinfrared light detected by infrared cameras to detect fires inside thevehicle 2.

The fire may be from a small object such as a laptop computer locatedinside the cabin of the vehicle 2. Program instructions 76 can cause animage analysis system 70 to analyze a thermal image taken by one of thecameras 24 a, 24 b, 24 c to determine if the thermal image comprises aportion that has a temperature over a predetermined threshold (e.g., atleast 150 degrees Fahrenheit, at least 180 degrees Fahrenheit, at least200 degrees Fahrenheit). The program instructions 76 can be configuredto respond to detecting the temperature over the predetermined thresholdin any of the ways in which other embodiments respond to detectingsmoke.

In some embodiments, the temperature detection system 110 is configuredto precisely identify the location of the fire and/or smoke. In someembodiments, the temperature detection system 110 is configured todetermine the temperature located within 36 inches of the smoke, 24inches of the smoke, 12 inches of the smoke, 1 inch of the smoke, anddistances greater than 1 inch from the smoke.

FIGS. 18-22 illustrate additional seat 51 and seat belt 153 embodimentsthat can be used with any of the other embodiments described hereinand/or incorporated by reference. The seat 51 can be located in thevehicle 2. The camera device 10 can be located inside a cabin of thevehicle 2. The smoke detection system 74 can be located inside the cabinof the vehicle 2. Additional details related to FIGS. 18-22 aredescribed in U.S. patent application Ser. No. 16/266,698. The entirecontents of U.S. patent application Ser. No. 16/266,698 are incorporatedherein by reference.

A seat belt is a restraining device configured to hold a rider in a seatof a vehicle during a collision. Many different types of seat belts canbe used with the embodiments described herein and/or incorporated byreference.

Seat belt embodiments can use two-point seat belts, lap seat belts,shoulder seat belts, sash seat belts, three-point seat belts, four-pointseat belts, five-point seat belts, six-point seat belts, eight-pointseat belts, and any other type of restraining device configured to holda rider in a seat of a vehicle during a collision.

FIG. 18 illustrates a side view of a first seat 51. A camera device 10is also shown in FIG. 18. The camera device 10 can be configured todetect if a rider is sitting in the first seat 51. An optional shoulderstrap is hidden in FIG. 18.

FIG. 19 illustrates a seat belt 153 having anchor points 159 a, 159 b,159 c, 159 d that can be bolted to a frame of a self-driving vehicle 2.The seat belt 153 can comprise a strap 105. The strap 105 can includewebbing. The strap 105 can be flexible. The strap 105 can be rigid. Manyother types of seat belts can be used.

The seat belt 153 can include a retractor 107 that is spring loaded toapply a force to the strap 105 that wraps at least a portion of the seatbelt 153 around a rotating portion of the retractor 107. Pulling theseat belt tongue 106 toward the buckle 108 can create a triangular shapethat forms a shoulder belt and a lap belt as the strap 105 slidesthrough the pillar loop 104.

FIG. 20 illustrates a perspective view of portions of the seat belt 153.Inserting the tongue 106 (which can be metal) into an opening 109 of thebuckle 108 can “buckle” the seat belt 153.

Inserting the tongue 106 into the opening 109 can compress a spring 160.The compression of the spring 160 can cause the buckle 108 to eject thetongue 106 when a rider presses a button 161 configured to unbuckle theseat belt 153.

As shown in FIG. 21, an actuator 141 can also be configured to depressthe button 161 (e.g., by pulling the button assembly downward into theouter housing 163 of the buckle 108). The retractor 107 (shown in FIG.19) can be spring loaded such that once the buckle 108 ejects the tongue106 (e.g., in response to the button 161 moving), the retractor 107reels in at least a portion of the strap 105 to pull the seat belt 153off of the rider to enable the rider to exit the vehicle 2.

In some embodiments, the actuator 141 is an electric linear actuatorcontrolled by the computer system 7 shown in FIG. 9. (Actuators can bepurchased from many companies including Actuonix Motion Devices Inc.)Program instructions 76 can be configured to cause the actuator 141 tomove the button 161 in response to various items.

The actuator 141 can comprise a rod 162 configured to extend (e.g., topush the button 161 upward) and retract (e.g., to depress the button161). A distal end of the rod 162 can comprise an anchor 164 thatcouples the distal end of the rod 162 to the button 161. A lower end ofthe actuator 141 can comprise an anchor 165 that is coupled to the outerhousing 163.

Referring now primarily to FIGS. 9 and 18-22, a seat belt sensor 155 isconfigured to detect at least one of a buckled state of the first seatbelt 153 and an unbuckled state of the first seat belt 153. In someembodiments, a seat belt sensor detects if a strap 105 is coupled to ananchor such that the seat belt 153 is arranged to restrain a rider inthe event of a collision. In some embodiments, a seat belt sensor 155detects if there is strain on the strap 105 (e.g., due to one end of thestrap 105 being coupled to an anchor and another end of the strap 105being pulled by a retractor 107) such that the seat belt 153 is arrangedto restrain a rider in the event of a collision. Many types of seat beltsensors can be used with the embodiments described herein and/orincorporated by reference.

U.S. Pat. No. 7,093,515 teaches a seat belt sensor to detect whether aseat belt is in a buckled state: “The buckle switch 17 is turned offwhen the seat belt 14 is fastened by inserting and thereby hooking atongue 15 to a buckle 16. The buckle switch 17 is turned on when thetongue 15 is not inserted into and hooked on the buckle 16 and thus theseat belt 14 is unfastened.” See FIG. 4 of U.S. Pat. No. 7,093,515. Theentire contents of U.S. Pat. No. 7,093,515 are incorporated by referenceherein.

U.S. Pat. Nos. 5,960,523; 6,554,318; and 5,871,063 teach about seat beltsensors. The entire contents of U.S. Pat. Nos. 5,960,523; 6,554,318; and5,871,063 are incorporated by reference herein.

U.S. Pat. Nos. 5,965,827; 5,996,421; 5,765,774; 6,205,868; and 6,357,091teach about seat belt sensors. The entire contents of U.S. Pat. Nos.5,965,827; 5,996,421; 5,765,774; 6,205,868; and 6,357,091 areincorporated by reference herein.

In some embodiments, a seat belt sensor 155 comprises a switch that istriggered by inserting the tongue 106 into the opening 109 of the buckle108. The switch can be a mechanical switch. The switch can be anelectrical component configured to, for example, complete an electricalcurrent in response to inserting the tongue 106 into the opening 109 ofthe buckle 108. Many different types of electrical switches can be used.Some embodiments use a reed switch.

Some embodiments use a light switch configured such that inserting thetongue 106 into the opening 109 of the buckle 108 blocks light emittedfrom a light source (located inside the buckle 108) from reaching alight sensor (located inside the buckle 108). If the buckle sensor doesnot detect the light from the light source, then the system determinesthat the seat belt 153 is “buckled.”

In some embodiments, the tongue 106 comprises a signal emitting portionand the buckle 108 comprises a signal receiving portion. If the bucklesensor does not detect the signal, then the system determines that theseat belt 153 is “unbuckled.”

In some embodiments, the tongue 106 comprises a signal receiving portionand the buckle 108 comprises a signal emitting portion. If the bucklesensor does not detect the signal, then the system determines that theseat belt 153 is “unbuckled.”

In some embodiments, the buckle sensor 155 is a strain gauge coupled tothe strap 105 such that when the seat belt 153 is “buckled,” theresulting strain is sensed by the buckle sensor 155 (such that thesystem can determine that the seat belt 153 is “buckled”).

A seat belt may be extendable (e.g., the retractor 107 may allowadditional strap length to unroll) but still may be arranged to helpsecure the rider if a collision occurs. In some embodiments, a seat beltarranged across a lap of a rider, across a chest and shoulder area of arider, and/or across a frontside (e.g., of an upper body) of the rideris arranged to help secure a rider if a collision occurs.

As used herein, “buckled state” is used broadly to mean that the seatbelt is arranged to help secure a rider if a collision occurs. As usedherein, “unbuckled state” is used broadly to mean that the seat belt isnot arranged to help secure a rider if a collision occurs. In someembodiments, if the seat belt is simply located at the side of the riderand the tongue 106 is not coupled to the buckle 108, then the seat beltis not arranged to help secure the rider if a collision occurs.

Some seat belts do not have a buckle but can still be placed in a“buckled state” if the seat belt is arranged to help secure a rider if acollision occurs. A seat belt (even without a buckle) can be positionedacross a lap of a rider such that the seat belt is arranged to helpsecure a rider if a collision occurs.

Embodiments can use the terminology “uncoupled state” for a seat beltthat is not arranged to help secure a rider if a collision occurs and“coupled state” for a seat belt that is arranged to help secure a riderif a collision occurs.

Embodiments can use the terminology “unfastened state” for a seat beltthat is not arranged to help secure a rider if a collision occurs.Embodiments can use the terminology “fastened state” for a seat beltthat is arranged to help secure a rider if a collision occurs.

Motorized seat belts can be placed in a buckled state via a motor thatmoves the seat belt into a position to help secure a rider if acollision occurs. The seat belt can begin in an unbuckled state thatenables the rider to enter the vehicle and sit in the seat. Then, themotor can move the seat belt (e.g., along a track coupled to a frame ofthe vehicle) into a buckled state such that the seat belt is in aposition to help secure the rider if a collision occurs. In somemotorized seat belts, actuating a buckle is not necessary to transitionfrom an unbuckled state to a buckled state because movement of an end ofthe seat belt along the track (rather than actuating the buckle) placesthe seat belt in a position to help secure a rider if a collisionoccurs. The entire contents of U.S. Pat. No. 4,995,640 are incorporatedby reference herein.

In some embodiments, a seat-belt monitoring system comprises a firstoccupancy sensor 57 configured to detect the rider sitting in the firstseat 51. Occupancy sensor embodiments can use any type of sensor thatenables the seat-belt monitoring system to detect whether a rider islocated in a seat. Many types of sensors can be used.

In some embodiments, an occupancy sensor comprises a camera (e.g., 10)configured to take a picture of the rider. A computer system 7 cancomprise program instructions 76 configured to visually analyze thepicture to determine if the picture shows a rider (a person) sitting ina seat 51. For example, Amazon Web Services, Inc. provides anapplication programming interface (“API”) called “Amazon Rekognition” toautomatically recognize people and objects in pictures. A communicationsystem 71 of a self-driving vehicle 2 can send the picture to the APIfor analysis. The API can then tell a computer system 7 if the pictureshows a rider located in the seat of the vehicle. The API can also tella computer system 7 if the picture shows the seat belt in a buckledstate or in an unbuckled state. Thus, the API can enable a camera-basedsystem to serve as both an occupancy sensor (to determine if a person issitting in the seat) and as a seat belt sensor configured to detect abuckled state of the seat belt and an unbuckled state of the seat belt.

In some embodiments, an occupancy sensor comprises a camera. U.S. Pat.No. 7,505,841 includes an occupancy sensor that comprises a camera. Theentire contents of U.S. Pat. No. 7,505,841 are incorporated by referenceherein. U.S. Pat. No. 7,415,126 includes an occupancy sensor thatcomprises a camera. The entire contents of U.S. Pat. No. 7,415,126 areincorporated by reference herein.

In some embodiments, an occupancy sensor comprises a pressure sensorconfigured to detect whether a rider is sitting in a seat of a vehicle.The pressure sensor can collect data indicative of a rider's weight. Therider likely has her feet on the floor, so the weight data may notreflect the rider's entire weight. Even so, the weight data can helpidentify the rider. For example, a first rider may have a weight of 120pounds with 30 pounds resting on the floor (due to the first rider'sfeet being on the floor) and 90 pounds resting on a first seat. Thedistribution between the first rider's weight on the floor and weight onthe first seat may vary (e.g., by plus or minus fifteen percent)depending on how the first rider is sitting on the first seat, butgenerally is fairly consistent.

A second rider may have a weight of 200 pounds with 50 pounds resting onthe floor (due to the second rider's feet being on the floor) and 150pounds resting on a second seat. The distribution between the secondrider's weight on the floor and weight on the second seat may vary(e.g., by plus or minus fifteen percent) depending on how the secondrider is sitting on the second seat, but generally is fairly consistent.

Program instructions 76 can be configured to use the weight on the seat(and/or on the floor) to help identify which rider is sitting in aparticular seat. For example, the first rider may travel in fourvehicles on four different days with recorded weights (e.g., in seats ofeach vehicle) of 90+/−8 pounds, 92+/−7 pounds, 91+/−8 pounds, and 89+/−7pounds. The second rider may travel in four vehicles on four differentdays with recorded weights (e.g., in seats of each vehicle) of 150+/−9pounds, 148+/−7 pounds, 148+/−5 pounds, and 151+/−8 pounds.

If the first and second riders are located in a vehicle, the programinstructions can be configured to use the weight history data of thefirst and second riders to determine which rider is located in aparticular seat. For example, “seat A” may detect a weight of 92 poundsand “seat B” may detect a weight of 148 pounds. The computer system canthen compare the detected weights to a weight history in a profile ofeach rider to determine that the first rider is located in “seat A” andthe second rider is located in “seat B.” If a seat belt sensor of “seatB” detects an unbuckled state, the program instructions can beconfigured to fine an account of the second rider (rather thanmistakenly fining an account of the first rider).

A weight (e.g., detected by an occupancy sensor) over a predeterminedthreshold can be used to enable the system to determine that the weightis due to a person rather than another object such as a laptop, abackpack, or a grocery bag. In some embodiments, the predeterminedthreshold is greater than 20 pounds, greater than 30 pounds, less than50 pounds, and/or less than 70 pounds.

U.S. Pat. No. 6,609,054 includes occupancy sensor information. Theentire contents of U.S. Pat. No. 6,609,054 are incorporated by referenceherein.

U.S. Pat. No. 6,918,612 includes occupancy sensor information. Theentire contents of U.S. Pat. No. 6,918,612 are incorporated by referenceherein.

U.S. Pat. No. 6,927,678 includes occupancy sensor information. Theentire contents of U.S. Pat. No. 6,927,678 are incorporated by referenceherein.

U.S. Pat. No. 6,920,256 includes occupancy sensor information. Theentire contents of U.S. Pat. No. 6,920,256 are incorporated by referenceherein. Occupancy sensor systems can use effects of a presence of arider sitting in a seat to detect whether a rider is sitting in a seat.In some embodiments, light from a light source is blocked by the ridersitting on a seat. The blocked light is not detected by a light sensor.Failing to detect the light is a signal that a rider is sitting in theseat.

In some embodiments, an occupancy sensor comprises a weight sensor 172.U.S. Pat. No. 6,636,792 includes weight sensor information. The entirecontents of U.S. Pat. No. 6,636,792 are incorporated by referenceherein.

The disclosure also includes a safety system 170 comprising aself-driving vehicle 2 configured to transport a rider, a vehiclemanagement system configured to autonomously drive the self-drivingvehicle 2, a seat 51 coupled to the self-driving vehicle 2, and a seatbelt 153 configured to alternatively have a buckled state and anunbuckled state. In many embodiments, the safety system 170 includes asmoke detection system 74 coupled to the self-driving vehicle 2 andconfigured to detect smoke inside a cabin of the self-driving vehicle 2.

In the buckled state the seat belt 153 is configured to secure the riderin the seat 51 and in the unbuckled state the seat belt 153 isconfigured to enable the rider to exit the seat 51. The seat belt 153 isconfigured to alternatively have a buckled state and an unbuckled state.In other words, if the seat belt 153 is in the buckled state, the seatbelt 153 is not in the unbuckled state. If the seat belt 153 is in theunbuckled state, the seat belt 153 is not in the buckled state.

In many embodiments, the safety system 170 further includes at least oneprocessor 77 and at least one memory 75 having program instructions 76that when executed by the at least one processor 77 are configured tocause the vehicle management system to switch the seat belt 153 from thebuckled state to the unbuckled state in response to the smoke detectionsystem detecting the smoke inside the self-driving vehicle 2. Someembodiments comprise at least one processor 77 and at least one memory75 having program instructions 76 that when executed by the at least oneprocessor 77 are configured to cause the vehicle management system tounbuckle the seat belt 153 in response to the smoke detection system 74detecting the smoke inside the self-driving vehicle 2. The programinstructions 76 can cause the vehicle management system to change theseat belt 153 from the buckled state to the unbuckled state in responseto the smoke detection system 74 detecting the smoke inside theself-driving vehicle 2. The program instructions 76 can also cause thevehicle management system to change the seat belt 153 from the unbuckledstate to the buckled state. In some embodiments, the rider manuallybuckles the seat belt and can manually unbuckle the seat belt 153, butin some cases, the vehicle management system unbuckles the seat belt 153before the rider even tries to unbuckle the seat belt.

As illustrated in FIGS. 21 and 22, the safety system 170 may furtherinclude a first actuator 141 configured to switch the seat belt 153 fromthe buckled state to the unbuckled state. In some embodiments, theprogram instructions 76 are configured to send a control signal to thefirst actuator 141 in response to the smoke detection system 74detecting the smoke inside the self-driving vehicle 2. In someembodiments, the control signal is configured to cause the firstactuator 141 to switch the seat belt 153 from the buckled state to theunbuckled state.

Now, with reference to FIGS. 18 and 20, some embodiments of the safetysystem 170 include a seat belt sensor 155 configured to detect thebuckled state of the seat belt 153. In this regard, the programinstructions 76 are configured to cause the vehicle management system toswitch the seat belt 153 from the buckled state to the unbuckled statein response to the smoke detection system 74 detecting the smoke insidethe self-driving vehicle 2 and the seat belt sensor 155 detecting thebuckled state.

Additionally, in some embodiments, the safety system 170 furtherincludes an occupancy sensor 57 configured to detect the rider sittingin the seat 51. In such embodiments, the program instructions 76 areconfigured to cause the vehicle management system to switch the seatbelt 153 from the buckled state to the unbuckled state in response tothe smoke detection system 74 detecting the smoke inside theself-driving vehicle 2 and the occupancy sensor 57 detecting the ridersitting in the seat 51.

In some embodiments, the safety system 170 includes both a seat beltsensor 155 and an occupancy sensor 57. In this regard, the programinstructions 76 may be configured to cause the vehicle management systemto switch the seat belt 153 from the buckled state to the unbuckledstate in response to: the smoke detection system 74 detecting the smokeinside the self-driving vehicle 2, the occupancy sensor 57 detecting therider sitting in the seat 51, and the seat belt sensor 155 detecting thebuckled state.

In some embodiments, the seat belt sensor 155 directly detects thebuckled state of the seat belt 153. In some embodiments, the seat beltsensor 155 indirectly detects the buckled state of the seat belt 153 bynot detecting the unbuckled state (such that the system knows thebuckled state is present because the unbuckled state is not detected).If the system detects that the seat belt 153 is not unbuckled, then thesystem can use that information to determine that the seat belt 153 isbuckled.

Danger is inherent when traveling by vehicle. This danger can beworsened based upon the speed that a vehicle is traveling. Accordingly,various safety systems are arranged and configured to keep riders safelybuckled in their seat 51 if the self-driving vehicle 2 is travelingabove various speed thresholds, such as 30 miles per hour. Withreference to FIG. 9, in some embodiments, the safety system 170 includesa speed detection system 134. Accordingly, the program instructions 76may be configured to cause the vehicle management system toautomatically switch the seat belt 153 from the buckled state to theunbuckled state in response to the smoke detection system 74 detectingthe smoke inside the self-driving vehicle 2 and the speed detectionsystem 134 determining that the self-driving vehicle 2 is moving at afirst speed that is less than a first speed threshold. In someembodiments, the first speed threshold is less than 30 miles per hour.In some embodiments, the first speed threshold is greater than one mileper hour. In some embodiments, the first speed threshold is less than 30miles per hour, less than 20 miles per hour, less than 10 miles perhour, greater than 5 miles per hour, and/or greater than one mile perhour. Many different types of speed detection systems can be used. Insome embodiments, a self-driving vehicle 2 comprises a speed detectionsystem 134 that enables the speedometer of the self-driving vehicle 2 todisplay a speed of the vehicle 2. In some embodiments, the safety system170 uses GPS data (e.g., including locations of the vehicle everysecond) to calculate the speed of the self-driving vehicle 2.

As shown in FIGS. 15 and 16, in some embodiments, the self-drivingvehicle comprises a door 130, a door lock 132 configured to impedeopening the door 130, and a door lock actuator 139 configured to arrangethe door lock 132 to an unlocked state. The program instructions 76 maythereby be configured to cause the door lock actuator 139 to unlock thedoor 130 in response to the smoke detection system 74 detecting thesmoke inside the self-driving vehicle 2.

Additionally, in some embodiments, the self-driving vehicle 2 furtherincludes a door actuator 135 configured to at least partially open thedoor 130. In some embodiments, the program instructions are configuredto cause the door actuator 135 to at least partially open the door 130in response to the smoke detection system 74 detecting the smoke insidethe self-driving vehicle 2, and the safety system 170 further comprisesa speed detection system 134, and the program instructions areconfigured to cause the vehicle management system to switch the seatbelt 153 from the buckled state to the unbuckled state in response tothe smoke detection system 74 detecting the smoke inside theself-driving vehicle 2 and the speed detection system 134 determiningthat the self-driving vehicle 2 is moving at a first speed that is lessthan a first speed threshold. The program instructions 76 may thereby beconfigured to cause the door actuator 135 to at least partially open thedoor 130 in response to the smoke detection system 74 detecting thesmoke inside the self-driving vehicle 2 and the speed detection system134 determining that the self-driving vehicle 2 is moving at a secondspeed that is less than a second speed threshold. In some embodiments,the second speed threshold is less than 15 miles per hour, less than 10miles per hour, less than 5 miles per hour, greater than 5 miles perhour, and/or greater than one mile per hour. In some embodiments, thefirst speed threshold is greater than 1 mile per hour and is greaterthan the second speed threshold.

In some embodiments, the speed threshold for unbuckling a seat belt 153is less than 30 miles per hour, less than 20 miles per hour, less than10 miles per hour, greater than 5 miles per hour, and/or greater than 1mile per hour.

In some embodiments, the speed threshold for opening doors 130 is lessthan 21 miles per hour, less than 15 miles per hour, less than 5 milesper hour, and/or greater than 1 mile per hour. In some embodiments, theprogram instructions are not configured to unbuckle the seat belt 153and/or open the doors 130 until at least a portion (e.g., the speeddetection system 134) of the safety system 170 verifies that the vehicle2 is no longer moving.

In many embodiments, the self-driving vehicle 2 comprises a window 137and a motor 136 configured to at least partially open the window 137. Insome embodiments, in response to the smoke detection system 74 detectingthe smoke inside the self-driving vehicle 2 the program instructions 76are configured to cause the motor 136 to at least partially open thewindow 137 prior to the seat belt 153 switching from the buckled stateto the unbuckled state. For example, if the vehicle 2 is traveling 70miles per hour, the window 137 might open as soon as the smoke detectionsystem 74 detects smoke, but the seat belt 153 would not unbuckle untilthe vehicle 2 is going much slower.

In some embodiments, the smoke detection system 74 is configured todetect a concentration of the smoke, which may be indicative of the typeof fire. Accordingly, the program instructions 76 are configured tocause the vehicle management system to automatically switch the seatbelt 153 from the buckled state to the unbuckled state in response tothe smoke detection system 74 detecting the smoke inside theself-driving vehicle 2 and the safety system 170 determining theconcentration of the smoke is greater than a predetermined threshold. Asused herein, to “switch” the seat belt from the buckled state to theunbuckled state does not necessarily require a physical switch or amechanical switch.

Furthermore, in some embodiments, the smoke detection system 74 isconfigured to detect a particle size of the smoke. In this regard, thevehicle management system can be configured to switch the seat belt 153from the buckled state to the unbuckled state in response to the smokedetection system 74 detecting the smoke inside the self-driving vehicle2 and the safety system 170 determining the particle size is smallerthan a predetermined threshold. Contra, in some embodiments, the vehiclemanagement system can even be configured to switch the seat belt 153from the buckled state to the unbuckled state in response to the smokedetection system 74 detecting the smoke inside the self-driving vehicle2 and the safety system 170 determining the particle size is greaterthan a predetermined threshold.

The system may also be configured to perform dual responses with respectto the smoke particle size detected. In some embodiments, wherein theself-driving vehicle 2 comprises a window 137 and a motor 136 configuredto at least partially open the window 137, the smoke detection system 74is configured to detect a particle size of the smoke, the programinstructions 76 are configured to cause the vehicle management system toswitch the seat belt 153 from the buckled state to the unbuckled statein response to the safety system 170 determining the particle size issmaller than a first predetermined threshold, and the programinstructions 76 are configured to cause the motor 136 to at leastpartially open the window 137 in response to the safety system 170determining the particle size is larger than a second predeterminedthreshold. Even still, in some embodiments, the program instructions 76are configured to cause the vehicle management system to switch the seatbelt 153 from the buckled state to the unbuckled state in response tothe safety system 170 determining the particle size is greater than afirst predetermined threshold, and the program instructions 76 areconfigured to cause the motor 136 to at least partially open the window137 in response to the safety system 170 determining the particle sizeis smaller than a second predetermined threshold. Generally, it shouldbe appreciated that any combination of events disclosed herein may becaused by the vehicle management system in response to the smokedetection system 74 determining that the particle sizes are greater thanor less than the first predetermined threshold or the secondpredetermined threshold. The second predetermined threshold can belarger than the first predetermined threshold.

Many different ways of detecting particle sizes are described hereinand/or incorporated by reference. As illustrated in FIGS. 10, 11, and23, the smoke detection system 74 can include an optical smoke detectionsystem 91 that uses several different infrared light wavelengths. Theinfrared light wavelengths selected for use in the optical smokedetection system 91 can be chosen because they approximately correspond(in length) to particles sizes emitted in vehicle fires.

An optical smoke detector can use a first infrared light wavelength, asecond infrared light wavelength (that is longer than the firstwavelength), a third infrared light wavelength (that is longer than thesecond wavelength), and a fourth infrared light wavelength (that islonger than the third wavelength). Optical smoke detectors can sensesmoke particles when smoke particles scatter a beam of the infraredlight onto a light detector. An optical smoke detection system candetect an indication of smoke particle size by determining which of thefirst, second, third, and fourth wavelengths were scattered by the smokeparticle.

Some fire and/or smoke events may constitute acute dangerous situationswhile other smoke events pose no immediate danger, but are rather just anuisance. In some embodiments, wherein the self-driving vehicle 2comprises a window 137 and a motor 136 configured to at least partiallyopen the window 137, the smoke detection system 74 comprises a camera 24a and at least one of an ionization smoke detector 90 and an opticalsmoke detector 91, wherein the camera 24 a is configured to take apicture showing at least a portion of the cabin. In such embodiments,the program instructions 76 may be configured to cause the motor 136 toat least partially open the window 137 in response to the safety system170 determining that the picture shows the smoke, and the programinstructions 76 are configured to cause the vehicle management system toswitch the seat belt 153 from the buckled state to the unbuckled statein response to at least one of the ionization smoke detector and theoptical smoke detector detecting the smoke inside the self-drivingvehicle. In some embodiments, program instructions 76 are configured toat least partially open the window 137 in response to at least one ofthe ionization smoke detector 90 and the optical smoke detector 91detecting the smoke inside the self-driving vehicle 2.

Elevated temperature may also be an indication of a dangerous situationversus a nuisance. As shown in FIGS. 9, 14, and 23, in some embodiments,the safety system 170 further includes a temperature detection system110 coupled to the self-driving vehicle 2 and configured to detect atemperature inside at least a portion of the self-driving vehicle 2.Accordingly, in some embodiments, the program instructions 76 areconfigured to cause the vehicle management system to switch the seatbelt 153 from the buckled state to the unbuckled state in response tothe smoke detection system 74 detecting the smoke inside theself-driving vehicle and the temperature detection system detecting thatthe temperature is greater than a predetermined temperature threshold.Conversely, in some embodiments, the program instructions 76 areconfigured to cause the vehicle management system to leave the seat belt153 in its existing state (whether buckled or unbuckled) and at leastpartially open the window 137 in response to the smoke detection system74 detecting the smoke inside the self-driving vehicle and thetemperature detection system detecting that the temperature is lowerthan a predetermined temperature threshold.

In some embodiments, the temperature detection system 110 comprises athermal imaging camera. The thermal imaging camera can be an infraredcamera made by FLIR Systems, Inc. In some embodiments, the temperaturedetection system 110 comprises a thermometer.

The safety system 170 may also be configured to react according tovarious objects located around the self-driving vehicle 2 a. In someembodiments, the safety system 170 further includes an object detectionsystem configured to detect a second vehicle 2 b and having at least oneof a camera, a radar, and a lidar. In some embodiments, at least one ofthe camera, the radar, and the lidar is coupled to the self-drivingvehicle 2 to enable the objection detection system to detect the secondvehicle 2 b, and the program instructions 76 are configured to cause thevehicle management system to switch the seat belt 153 from the buckledstate to the unbuckled state in response to the smoke detection system74 detecting the smoke inside the self-driving vehicle 2 a and inresponse to at least one of: the object detection system detecting thatthe second vehicle 2 b is at least a predetermined distance from theself-driving vehicle 2 a, the object detection system detecting that thesecond vehicle 2 b is not on a collision course with the self-drivingvehicle 2 a, and the vehicle management system determining, based ondata from the object detection system, that the second vehicle 2 b hasless than a predetermined risk threshold of colliding with theself-driving vehicle 2 a.

In some embodiments, the program instructions 76 are configured toautomatically switch the seat belt 153 from the buckled state to theunbuckled state in response to the smoke detection system 74 detectingthe smoke inside the self-driving vehicle 2 and the safety system 170receiving a verification input 171 from a rider. The verification input171 is configured to confirm a presence of the smoke in the self-drivingvehicle 2.

Interpretation

To reduce unnecessary redundancy, not every element or feature isdescribed in the context of every embodiment, but all elements andfeatures described in the context of any embodiment herein and/orincorporated by reference can be combined with any elements and/orfeatures described in the context of any other embodiments.

The self-driving vehicle 2 can be any suitable vehicle. For example, theself-driving vehicle 2 can be a Tesla Model S made by Tesla, Inc. TheTesla Model S can include the Enhanced Autopilot package and the FullSelf-Driving Capability package. The Full Self-Driving Capabilitypackage includes eight active cameras to enable full self-driving inalmost all circumstances.

The self-driving vehicle 2 can also be a Waymo car. Waymo was formerlythe Google self-driving car project. Waymo, which is owned by AlphabetInc., has logged thousands of self-driving miles over many years. Waymovehicles have sensors and software that are designed to detectpedestrians, cyclists, vehicles, roadwork and more from a distance of upto two football fields away in all directions. Waymo has stated that itssoftware leverages over four million miles of real world driving data.In some embodiments, self-driving vehicles sometimes drive themselves,sometimes are driven remotely by a computer system, and sometimes aredriven manually by a human turning a steering wheel, operating pedals,and performing other driver functions. In several embodiments, aself-driving vehicle drives without a human inside the vehicle to pickup the human and then lets the human drive the vehicle. Although in somecases, the human may choose not to drive the vehicle and instead mayallow the vehicle to drive (e.g., steer and control speed) itself (e.g.,in response to a destination requested by the human).

The remote computing device 12 can be a smartphone, a tablet computer, alaptop computer, a desktop computer, a server, augmented realityglasses, an implanted computer, and/or any type of computer. A rider canbring her remote computing device 12 into the self-driving vehicle 2 andthen can leave the self-driving vehicle 2 with her remote computingdevice 12. In some embodiments, the rider requests a ride at her homewith a remote computing device 12, but then leaves the remote computingdevice 12 at home when she goes to get a ride from the vehicle 2.

In some embodiments, the remote computing device 12 is an iPhone made byApple Inc. or an Android phone based on software made by Alphabet Inc.The remote computing device 12 can comprise a speaker configured to emitsounds, a microphone configured to record sounds, and a display screenconfigured to display images. The remote computing device 12 cancomprise a battery configured to provide electrical power to operate theremote computing device 12.

In some embodiments, portions of the vehicle management system 65 can bephysically coupled to the self-driving vehicle 2 while other others ofthe vehicle management system 65 are not physically coupled to thevehicle 2 and are located remotely relative to the vehicle 2.

In some embodiments, at least a portion of the vehicle management system65 is located in the vehicle 2. In several embodiments, at least aportion of the vehicle management system 65 is located remotely relativeto the vehicle 2. The vehicle management system 65 can comprise manyservers, computers, and vehicles. The vehicle management system 65 cancomprise cloud computing and cloud storage.

In several embodiments, the entire vehicle management system 65 islocated in the self-driving vehicle 2. The vehicle 2 can comprise thevehicle management system 65. In some embodiments, a first portion ofthe vehicle management system 65 is physically coupled to the vehicle 2,and a second portion of the vehicle management system 65 is notphysically coupled to the vehicle 2. The second portion can be locatedremotely relative to the vehicle 2. In several embodiments, the entirevehicle management system 65 is located remotely relative to the vehicle2.

The phrase “communicatively coupling” can include any type of directand/or indirect coupling between the self-driving vehicle 2, remotecomputing device 12, and vehicle management system 65. For example, theremote computing device 12 can be communicatively coupled to the vehiclemanagement system 65 via servers, the Cloud, the Internet, satellites,Wi-Fi networks, cellular networks, and any other suitable communicationmeans.

Some of the devices, systems, embodiments, and processes use computers.Each of the routines, processes, methods, and algorithms described inthe preceding sections may be embodied in, and fully or partiallyautomated by, code modules executed by one or more computers, computerprocessors, or machines configured to execute computer instructions. Thecode modules may be stored on any type of non-transitorycomputer-readable storage medium or tangible computer storage device,such as hard drives, solid state memory, flash memory, optical disc,and/or the like. The processes and algorithms may be implementedpartially or wholly in application-specific circuitry. The results ofthe disclosed processes and process steps may be stored, persistently orotherwise, in any type of non-transitory computer storage such as, e.g.,volatile or non-volatile storage.

The term “app”, as used in this disclosure, refers to both native appsand mobile cloud apps (and Web apps). Native apps are installed directlyon remote computing devices, whereby developers create separate appversions for each type of remote computing device (e.g., iPhone devicesand Android devices). Native apps may be stored on the remote computingdevice out of the box, or the native apps can be downloaded from apublic or private app store and installed on the remote computingdevice. Self-driving vehicle data associated with native apps can bestored on the remote computing device and/or can be stored remotely andaccessed by the native app. Internet connectivity may be used by someinstances of apps. Other instances of apps may not use Internetconnectivity. In some embodiments, apps can function without Internetconnectivity.

Mobile cloud apps are very similar to Web-based apps. The mainsimilarity is that both mobile cloud apps and Web apps run on serversexternal to the remote computing device and may require the use of abrowser on the remote computing device to display and then use the appuser interface (UI). Mobile cloud apps can be native apps rebuilt to runin the mobile cloud; custom apps developed for mobile devices; orthird-party apps downloaded to the cloud from external sources. Someorganizations offer both a native and mobile cloud versions of theirapplications. In short, the term “app” refers to both native apps andmobile cloud apps.

None of the steps described herein is essential or indispensable. Any ofthe steps can be adjusted or modified. Other or additional steps can beused. Any portion of any of the steps, processes, structures, and/ordevices disclosed or illustrated in one embodiment, flowchart, orexample in this specification can be combined or used with or instead ofany other portion of any of the steps, processes, structures, and/ordevices disclosed or illustrated in a different embodiment, flowchart,or example. The embodiments and examples provided herein are notintended to be discrete and separate from each other.

The section headings and subheadings provided herein are nonlimiting.The section headings and subheadings do not represent or limit the fullscope of the embodiments described in the sections to which the headingsand subheadings pertain. For example, a section titled “Topic 1” mayinclude embodiments that do not pertain to Topic 1 and embodimentsdescribed in other sections may apply to and be combined withembodiments described within the “Topic 1” section.

Some of the devices, systems, embodiments, and processes use computers.Each of the routines, processes, methods, and algorithms described inthe preceding sections may be embodied in, and fully or partiallyautomated by, code modules executed by one or more computers, computerprocessors, or machines configured to execute computer instructions. Thecode modules may be stored on any type of non-transitorycomputer-readable storage medium or tangible computer storage device,such as hard drives, solid state memory, flash memory, optical disc,and/or the like. The processes and algorithms may be implementedpartially or wholly in application-specific circuitry. The results ofthe disclosed processes and process steps may be stored, persistently orotherwise, in any type of non-transitory computer storage such as, e.g.,volatile or non-volatile storage.

The various features and processes described above may be usedindependently of one another, or may be combined in various ways. Allpossible combinations and subcombinations are intended to fall withinthe scope of this disclosure. In addition, certain method, event, state,or process blocks may be omitted in some implementations. The methods,steps, and processes described herein are also not limited to anyparticular sequence, and the blocks, steps, or states relating theretocan be performed in other sequences that are appropriate. For example,described tasks or events may be performed in an order other than theorder specifically disclosed. Multiple steps may be combined in a singleblock or state. The example tasks or events may be performed in serial,in parallel, or in some other manner. Tasks or events may be added to orremoved from the disclosed example embodiments. The example systems andcomponents described herein may be configured differently thandescribed. For example, elements may be added to, removed from, orrearranged compared to the disclosed example embodiments.

Conditional language used herein, such as, among others, “can,” “could,”“might,” “may,” “e.g.,” and the like, unless specifically statedotherwise, or otherwise understood within the context as used, isgenerally intended to convey that certain embodiments include, whileother embodiments do not include, certain features, elements and/orsteps. Thus, such conditional language is not generally intended toimply that features, elements and/or steps are in any way required forone or more embodiments or that one or more embodiments necessarilyinclude logic for deciding, with or without author input or prompting,whether these features, elements and/or steps are included or are to beperformed in any particular embodiment. The terms “comprising,”“including,” “having,” and the like are synonymous and are usedinclusively, in an open-ended fashion, and do not exclude additionalelements, features, acts, operations and so forth. Also, the term “or”is used in its inclusive sense (and not in its exclusive sense) so thatwhen used, for example, to connect a list of elements, the term “or”means one, some, or all of the elements in the list. Conjunctivelanguage such as the phrase “at least one of X, Y, and Z,” unlessspecifically stated otherwise, is otherwise understood with the contextas used in general to convey that an item, term, etc. may be either X,Y, or Z. Thus, such conjunctive language is not generally intended toimply that certain embodiments require at least one of X, at least oneof Y, and at least one of Z to each be present.

The term “and/or” means that “and” applies to some embodiments and “or”applies to some embodiments. Thus, A, B, and/or C can be replaced withA, B, and C written in one sentence and A, B, or C written in anothersentence. A, B, and/or C means that some embodiments can include A andB, some embodiments can include A and C, some embodiments can include Band C, some embodiments can only include A, some embodiments can includeonly B, some embodiments can include only C, and some embodiments caninclude A, B, and C. The term “and/or” is used to avoid unnecessaryredundancy.

While certain example embodiments have been described, these embodimentshave been presented by way of example only, and are not intended tolimit the scope of the inventions disclosed herein. Thus, nothing in theforegoing description is intended to imply that any particular feature,characteristic, step, module, or block is necessary or indispensable.Indeed, the novel methods and systems described herein may be embodiedin a variety of other forms; furthermore, various omissions,substitutions, and changes in the form of the methods and systemsdescribed herein may be made without departing from the spirit of theinventions disclosed herein.

The following is claimed:
 1. A safety system comprising: a self-drivingvehicle; a vehicle management system configured to autonomously drivethe self-driving vehicle; a smoke detection system coupled to theself-driving vehicle and configured to detect smoke inside a cabin ofthe self-driving vehicle, wherein the self-driving vehicle comprises adoor and a door lock configured to impede opening the door; and at leastone processor and at least one memory having program instructions thatwhen executed by the at least one processor are configured to cause thevehicle management system to unlock the door of the self-driving vehiclein response to the smoke detection system detecting the smoke inside theself-driving vehicle.
 2. The safety system of claim 1, furthercomprising a speed detection system, wherein the program instructionsare configured to cause the vehicle management system to automaticallyunlock the door in response to the smoke detection system detecting thesmoke inside the self-driving vehicle and the speed detection systemdetermining that the self-driving vehicle is moving at a first speedthat is less than a first speed threshold.
 3. The safety system of claim1, wherein the self-driving vehicle comprises a motor configured to atleast partially open the door, wherein the program instructions areconfigured to cause the motor to at least partially open the door inresponse to the smoke detection system detecting the smoke inside theself-driving vehicle.
 4. The safety system of claim 3, furthercomprising a speed detection system, wherein the program instructionsare configured to cause the vehicle management system to unlock the doorin response to the smoke detection system detecting the smoke inside theself-driving vehicle and the speed detection system determining that theself-driving vehicle is moving at a first speed that is less than afirst speed threshold, and the program instructions are configured tocause the motor to at least partially open the door in response to thesmoke detection system detecting the smoke inside the self-drivingvehicle and the speed detection system determining that the self-drivingvehicle is moving at a second speed that is less than a second speedthreshold.
 5. The safety system of claim 1, wherein the self-drivingvehicle comprises a window and a motor configured to at least partiallyopen the window, wherein the program instructions are configured tocause the motor to at least partially open the window in response to thesmoke detection system detecting the smoke inside the self-drivingvehicle.
 6. The safety system of claim 1, wherein the smoke detectionsystem is configured to detect a concentration of the smoke, and theprogram instructions are configured to cause the vehicle managementsystem to automatically unlock the door of the self-driving vehicle inresponse to the smoke detection system detecting the smoke inside theself-driving vehicle and the safety system determining the concentrationof the smoke is greater than a predetermined threshold.
 7. The safetysystem of claim 1, wherein the smoke detection system is configured todetect a particle size of the smoke, and the vehicle management systemis configured to unlock the door in response to the smoke detectionsystem detecting the smoke inside the self-driving vehicle and thesafety system determining the particle size is smaller than apredetermined threshold.
 8. The safety system of claim 1, wherein theself-driving vehicle comprises a window and a motor configured to atleast partially open the window, the smoke detection system isconfigured to detect a particle size of the smoke, the programinstructions are configured to cause the vehicle management system tounlock the door in response to the safety system determining theparticle size is smaller than a first predetermined threshold, and theprogram instructions are configured to cause the motor to at leastpartially open the window in response to the safety system determiningthe particle size is larger than a second predetermined threshold. 9.The safety system of claim 1, wherein the self-driving vehicle comprisesa window and a motor configured to at least partially open the window,and the self-driving vehicle comprises an actuator configured to movethe door lock to an unlocked state, the smoke detection system comprisesa camera and at least one of an ionization smoke detector and an opticalsmoke detector, wherein the camera is configured to take a pictureshowing at least a portion of the cabin, and the program instructionsare configured to cause the motor to at least partially open the windowin response to the safety system determining that the picture shows thesmoke, and the program instructions are configured to cause the actuatorto move the door lock to the unlocked state in response to at least oneof the ionization smoke detector and the optical smoke detectordetecting the smoke inside the self-driving vehicle.
 10. The safetysystem of claim 1, wherein the program instructions are configured toautomatically unlock the door lock in response to the smoke detectionsystem detecting the smoke inside the self-driving vehicle and thesafety system receiving a verification input from a rider, wherein theverification input is configured to confirm a presence of the smoke inthe self-driving vehicle.
 11. The safety system of claim 10, wherein theself-driving vehicle comprises a display screen, the programinstructions are configured to receive the verification input from therider via at least one of the display screen and a button pressed by therider in response to a visual request shown on the display screen, andin response to the smoke detection system detecting the smoke, theprogram instructions are configured to cause the display screen to emitthe visual request for the rider to confirm the presence of the smoke.12. The safety system of claim 10, wherein the self-driving vehiclecomprises a microphone and a speaker, the verification input comprises averbal response received from the rider via the microphone in responseto the program instructions causing the speaker to emit an audio requestfor the rider to confirm the presence of the smoke, and in response tothe smoke detection system detecting the smoke, the program instructionsare configured to cause the speaker to emit the audio request.
 13. Thesafety system of claim 10, wherein the self-driving vehicle comprises acamera, and the verification input comprises a gesture made by the riderand recorded by the camera.
 14. The safety system of claim 10, whereinthe verification input comprises a wireless communication transmittedfrom a remote computing device of the rider to the safety system. 15.The safety system of claim 1, wherein the self-driving vehicle comprisesa speaker, and in response to the smoke detection system detecting thesmoke inside the self-driving vehicle, the program instructions areconfigured to cause the speaker to emit audio instructions, wherein theaudio instructions are configured to alert a rider regarding the doorbeing unlocked.
 16. The safety system of claim 1, wherein theself-driving vehicle comprises a display screen, and in response to thesmoke detection system detecting the smoke inside the self-drivingvehicle, the program instructions are configured to cause the displayscreen to show visual instructions to a rider, wherein the visualinstructions are configured to alert the rider regarding the door beingunlocked.
 17. The safety system of claim 1, further comprising atemperature detection system coupled to the self-driving vehicle andconfigured to detect a temperature inside at least a portion ofself-driving vehicle, wherein the program instructions are configured tocause the vehicle management system to unlock the door in response tothe smoke detection system detecting the smoke inside the self-drivingvehicle and the temperature detection system detecting the temperaturegreater than a predetermined temperature threshold.
 18. The safetysystem of claim 17, wherein the temperature detection system comprises acamera system configured to identify the smoke.
 19. The safety system ofclaim 18, wherein the temperature is located within 24 inches of thesmoke.
 20. The safety system of claim 1, wherein the door comprises anunlocked state and a locked state, and the program instructions areconfigured to verify the door is in the unlocked state in response tothe smoke detection system detecting the smoke inside the self-drivingvehicle.
 21. The safety system of claim 2, wherein the first speedthreshold is less than 10 miles per hour.
 22. The safety system of claim2, wherein the first speed threshold is less than 30 miles per hour andgreater than 1 mile per hour.
 23. The safety system of claim 4, whereinthe first speed threshold is less than 30 miles per hour and the secondspeed threshold is less than 15 miles per hour.
 24. The safety system ofclaim 4, wherein the first speed threshold is less than 30 miles perhour, the first speed threshold is greater than 1 mile per hour, and thefirst speed threshold is greater than the second speed threshold. 25.The safety system of claim 1, wherein the self-driving vehicle comprisesa speaker, and in response to the smoke detection system detecting thesmoke inside the self-driving vehicle, the program instructions areconfigured to cause the speaker to emit audio instructions, wherein theaudio instructions are configured to alert a rider regarding the smoke.26. The safety system of claim 1, wherein the self-driving vehiclecomprises a display screen, and in response to the smoke detectionsystem detecting the smoke inside the self-driving vehicle, the programinstructions are configured to cause the display screen to show visualinstructions to a rider, wherein the visual instructions are configuredto alert the rider regarding the smoke.